2
 -0.720083   0.684393   0.114398     0.1898
 -0.331084   -0.48377   0.810154 -0.0754907
  0.609806   0.545503   0.574946   0.990654
         0          0          0          1
 -0.89359  0.446618 0.0450363 0.0227172
  -0.2475 -0.573912  0.780621 0.0843708
 0.374486  0.686409   0.62338  0.800922
        0         0         0         1
