2
  0.161391  -0.986407 -0.0308937   0.123603
 -0.864565  -0.126222  -0.486411  -0.153126
  0.475899   0.105212  -0.873184   0.704194
         0          0          0          1
 -0.403629  -0.914434  0.0299002  -0.168006
 -0.810624   0.342272  -0.475119 -0.0786758
  0.424231   -0.21601  -0.879413   0.652683
         0          0          0          1
