2
  -0.51008   0.812986   0.280842  -0.232929
  0.602589   0.570757  -0.557784 -0.0870819
 -0.613762  -0.115282  -0.781029   0.715891
         0          0          0          1
0.000157574    0.970819    0.239815   0.0621698
   0.801331     0.14334   -0.580795  -0.0171779
  -0.598222    0.192263   -0.777924    0.756712
          0           0           0           1
