2
  0.997234  0.0723236  0.0171543  0.0421046
-0.0669308   0.773339    0.63045  0.0860146
 0.0323303  -0.629854   0.776041   0.697974
         0          0          0          1
    0.9139   0.401565 -0.0594397  -0.117963
 -0.275907   0.721865   0.634655   -0.10787
  0.297762  -0.563611   0.770507   0.870983
         0          0          0          1
