2
  -0.505358    0.859162   0.0803389   -0.178515
   0.591462    0.412674   -0.692729 -0.00183461
   -0.62832   -0.302559    -0.71671    0.677272
          0           0           0           1
0.0171791  0.999135 0.0378728  0.126837
 0.706841 0.0146541 -0.707221 0.0232949
-0.707164 0.0389195 -0.705978  0.664121
        0         0         0         1
