2
-0.530846  0.833017   0.15584 -0.200006
 0.539733   0.47409 -0.695648 -0.025562
-0.653368  -0.28517 -0.701276  0.663872
        0         0         0         1
-0.0194997   0.992965   0.116791   0.101402
   0.69569  0.0973721  -0.711712   0.024204
 -0.718078  0.0673723  -0.692695   0.659892
         0          0          0          1
