2
 -0.84572  0.401001  0.352074 -0.175529
 0.137104  0.800912 -0.582874 -0.146447
-0.515713 -0.444678 -0.732326  0.756365
        0         0         0         1
-0.519739  0.787745  0.330649 0.0434878
 0.516449  0.598009 -0.612915 0.0470206
-0.680552 -0.147792 -0.717639   0.68611
        0         0         0         1
