2
  0.993051 -0.0356397   0.112158  0.0817052
-0.0467881   0.754916   0.654151   0.070253
 -0.107983  -0.654853   0.748003   0.746702
         0          0          0          1
  0.823858    0.54667   0.149699 -0.0506543
 -0.506945   0.592569   0.625995  -0.111743
  0.253505  -0.591621   0.765324   0.947723
         0          0          0          1
