2
  -0.839853    -0.54223    0.025173  -0.0773094
   0.388056   -0.567335    0.726321 0.000235111
  -0.379552    0.619772    0.686894    0.854347
          0           0           0           1
-0.366802 -0.928602 0.0561728  0.189659
 0.666247 -0.220069   0.71252 0.0954017
-0.649286  0.298779    0.6994  0.741002
        0         0         0         1
