2
  0.166504  -0.985622 -0.0287253   0.123562
 -0.864171  -0.131834  -0.485621  -0.149858
  0.474852   0.105681  -0.873697   0.700227
         0          0          0          1
 -0.401564  -0.915312  0.0308016  -0.167805
 -0.813875   0.341236  -0.470282 -0.0763816
  0.419944  -0.213917  -0.881979   0.649445
         0          0          0          1
