2
  0.985889 -0.0155421   0.166676   0.187819
-0.0865363   0.805001   0.586928   0.097822
 -0.143296  -0.593069   0.792297   0.728462
         0          0          0          1
 0.909457   0.38736  0.151132 0.0723526
-0.398303  0.707277   0.58405 -0.108989
 0.119345 -0.591365  0.797525  0.919487
        0         0         0         1
