2
  0.977693   0.203724  0.0511069    0.11587
  0.185898  -0.726067  -0.662019  0.0527185
-0.0977621   0.656752  -0.747743   0.597902
         0          0          0          1
 0.985242 -0.101898  0.137531 0.0443124
0.0141389 -0.752296 -0.658673 -0.163475
 0.170582  0.650897 -0.739753  0.800821
        0         0         0         1
