2
  0.997501 -0.0665503  0.0237263   0.329104
 0.0390185   0.798844   0.600272 -0.0241496
-0.0589019  -0.597846   0.799444    0.73365
         0          0          0          1
  0.978157    0.20397 -0.0400698   0.195509
 -0.140309   0.790089   0.596718   -0.23821
  0.153371  -0.578062    0.80145   0.898239
         0          0          0          1
