2
  0.989871 -0.0789477  -0.117998   0.117447
 -0.137942  -0.731453  -0.667794   0.012553
-0.0335891   0.677307  -0.734934   0.623907
         0          0          0          1
  0.837151  -0.538433 -0.0962782 -0.0286937
 -0.458451  -0.594705  -0.660416  -0.160725
  0.298332   0.597006  -0.744703   0.825124
         0          0          0          1
