2
  0.996429  0.0402018    0.07425  0.0530813
 -0.077553   0.783493   0.616542  0.0490513
-0.0333883  -0.620098   0.783813   0.691872
         0          0          0          1
 0.893109  0.446538 0.0544091 -0.105008
-0.381074  0.686756   0.61899 -0.135429
 0.239036  -0.57356  0.783512  0.868153
        0         0         0         1
