2
-0.0252122   0.989445   0.142699   0.133651
 -0.796509  -0.106142   0.595238  0.0170713
  0.604102 -0.0986538   0.790778   0.933378
         0          0          0          1
 -0.54346  0.834869 0.0874389 -0.141485
-0.637887 -0.478439  0.603487  0.139491
 0.545667  0.272195  0.792564  0.871783
        0         0         0         1
