2
  0.982603  0.0719158   0.171228   0.216179
 -0.158882   0.802918   0.574526  0.0375536
-0.0961646  -0.591736   0.800376   0.675621
         0          0          0          1
 0.951975  0.300879 0.0567035 0.0612743
-0.274116   0.75505  0.595618  -0.15597
 0.136395 -0.582557  0.801264  0.858371
        0         0         0         1
