2
 -0.507431    0.85177   0.130392  -0.150601
  0.673713   0.486509  -0.556255 -0.0518143
 -0.537238  -0.194414  -0.820718   0.766446
         0          0          0          1
 0.0297504   0.994303   0.102352   0.154729
  0.815313   0.035099  -0.577956 -0.0154349
 -0.578256   0.100644  -0.809624   0.771647
         0          0          0          1
