2
 -0.181613   -0.98271  -0.036023 -0.0922906
 -0.820167    0.17158  -0.545789  -0.103539
  0.542533 -0.0695773  -0.837148   0.855224
         0          0          0          1
-0.678546 -0.734114 0.0255583 -0.333797
-0.624159   0.55787 -0.546998 0.0461966
   0.3873 -0.387115 -0.836744  0.743642
        0         0         0         1
