2
-0.0134817    0.96754   0.252357  -0.168802
   0.89846   0.122488  -0.421624  -0.181302
 -0.438849   0.221049  -0.870947   0.656618
         0          0          0          1
 0.490229  0.849671  0.194256  0.105186
  0.82308 -0.377978 -0.423876 -0.264233
-0.286731  0.367684 -0.884643  0.765721
        0         0         0         1
