2
   0.985566      0.1628  -0.0464221   0.0720106
  0.0770883   -0.675728   -0.733109 0.000231727
  -0.150719    0.718949   -0.678524    0.680935
          0           0           0           1
  0.970787  -0.239897 0.00470604 -0.0310098
 -0.158447  -0.655666  -0.738239   -0.17518
  0.180187   0.715927  -0.674523   0.904999
         0          0          0          1
