2
  0.983957 -0.0862567   0.156165  0.0297267
0.00159924  -0.871049  -0.491194 -0.0424791
  0.178396   0.483563  -0.856938   0.683208
         0          0          0          1
 0.781949 -0.601649  0.163016 -0.123478
-0.476082 -0.745246 -0.466855 -0.278505
  0.40237  0.287447 -0.869179  0.778684
        0         0         0         1
