2
  0.165339   0.985018  0.0490174   0.211168
 -0.673561   0.076476   0.735165 0.00294358
  0.720402  -0.154568   0.676114   0.811361
         0          0          0          1
 -0.401918   0.915633 0.00885203 -0.0818534
 -0.620825  -0.279592   0.732396  0.0608132
  0.673081   0.288867   0.680821   0.746992
         0          0          0          1
