2
  0.995489 -0.0329418  0.0889709  0.0771403
-0.0348311   0.745398   0.665709  0.0987948
-0.0882484  -0.665806   0.740888   0.746292
         0          0          0          1
  0.925349   0.371585  0.0751964 -0.0603691
 -0.324023   0.672189   0.665712 -0.0793838
  0.196822  -0.640381   0.742411   0.948376
         0          0          0          1
