2
  0.984046   0.155462 -0.0865154   0.154686
 0.0623577  -0.756808  -0.650657  0.0186695
 -0.166628   0.634881  -0.754428    0.60702
         0          0          0          1
 0.914656 -0.392545   -0.0965 0.0743576
-0.359817 -0.681827 -0.636902 -0.189024
 0.184216  0.617268 -0.764882   0.81201
        0         0         0         1
