2
 -0.10214  0.976546   0.18954 -0.144625
 0.838428  0.187051 -0.511909 -0.143448
-0.535356  0.106629 -0.837869  0.731572
        0         0         0         1
 0.408903  0.902422  0.135765   0.14212
 0.804448 -0.286198 -0.520533 -0.200403
-0.430885  0.322063 -0.842979  0.819776
        0         0         0         1
