2
   0.928351 -0.00811119    0.371615    0.134484
  -0.227819    0.777552    0.586099   0.0886174
  -0.293704   -0.628767    0.719994    0.688547
          0           0           0           1
    0.7888   0.492028   0.368379  0.0212224
 -0.610041   0.553444   0.567054 -0.0883739
 0.0751292  -0.672019   0.736714   0.910902
         0          0          0          1
