2
-0.0250874     0.9638   0.265443   0.167178
 -0.825001  -0.169917   0.538982 -0.0354313
  0.564574  -0.205469   0.799399   0.868278
         0          0          0          1
-0.541759  0.809858  0.225006 -0.100034
 -0.61783 -0.565185  0.546674  0.116954
 0.569899   0.15715  0.806548  0.841913
        0         0         0         1
