2
  0.986136   0.165798 0.00682321   0.113358
  0.128203  -0.735134  -0.665689  0.0375716
 -0.105354   0.657335  -0.746198   0.601117
         0          0          0          1
  0.980846  -0.162907   0.106785  0.0241217
-0.0496747  -0.739289  -0.671554   -0.17281
  0.188346   0.653386  -0.733221   0.803062
         0          0          0          1
