2
 0.984639 0.0583432  0.164569  0.113476
 0.146083 -0.791522 -0.593425 0.0619962
0.0956378   0.60835 -0.787886  0.676523
        0         0         0         1
   0.864441   -0.478122    0.155375 -0.00316607
  -0.317143   -0.758427   -0.569393   -0.174443
    0.39008    0.442931   -0.807249    0.823493
          0           0           0           1
