2
  0.985685   0.106024   0.131089   0.316177
  0.161471   -0.81733  -0.553082 -0.0761135
 0.0485026   0.566332  -0.822749   0.661213
         0          0          0          1
 0.926108 -0.377109 0.0106543  0.209036
-0.314713 -0.787833  -0.52941 -0.294675
 0.208039  0.486937 -0.848299   0.83461
        0         0         0         1
