2
  0.984961 -0.0946172   0.144565  0.0267604
-0.0121115  -0.872473  -0.488512 -0.0407142
   0.17235   0.479414  -0.860498    0.67642
         0          0          0          1
 0.787079 -0.597019  0.155162 -0.124453
-0.478335 -0.749538  -0.45759 -0.277038
 0.389489   0.28594 -0.875521  0.772553
        0         0         0         1
