2
  0.989446  0.0431497  -0.138325   0.179527
-0.0477409  -0.804249  -0.592372  0.0538536
 -0.136809   0.592724  -0.793701   0.654339
         0          0          0          1
  0.89105 -0.439286  -0.11427 0.0744183
-0.418657 -0.698117 -0.580826 -0.158467
 0.175376  0.565385 -0.805967  0.843783
        0         0         0         1
