2
  0.985829 -0.0914273   0.140651  0.0242954
-0.0110036  -0.871869  -0.489616 -0.0371171
  0.167394   0.481129   -0.86052   0.675048
         0          0          0          1
 0.789002 -0.594685  0.154352 -0.127095
-0.477678  -0.75176 -0.454622 -0.274001
 0.386393  0.284967 -0.877208  0.771473
        0         0         0         1
