2
  0.989446 -0.0431497   0.138325   0.191497
-0.0477409   0.804249   0.592372    0.10535
 -0.136809  -0.592724   0.793701    0.72392
         0          0          0          1
  0.89105  0.439286   0.11427 0.0841371
-0.418657  0.698117  0.580826 -0.107896
 0.175376 -0.565385  0.805967  0.914386
        0         0         0         1
