2
 -0.181613    0.98271  0.0360231 -0.0851276
 -0.820167   -0.17158   0.545789 -0.0690499
  0.542533  0.0695772   0.837148   0.907827
         0          0          0          1
 -0.678546   0.734114 -0.0255582  -0.331189
 -0.624159   -0.55787   0.546998  0.0787095
    0.3873   0.387115   0.836744     0.7979
         0          0          0          1
