2
   0.986136   -0.165798 -0.00682322    0.112688
   0.128203    0.735134    0.665689   0.0954753
  -0.105354   -0.657335    0.746198    0.666566
          0           0           0           1
  0.980846   0.162907  -0.106785  0.0146047
-0.0496747   0.739289   0.671554  -0.114371
  0.188346  -0.653386   0.733221   0.867337
         0          0          0          1
