2
 -0.532902   0.813853   0.231646 -0.0747062
  0.627933   0.563851  -0.536445 -0.0556991
 -0.567201  -0.140414  -0.811522   0.736043
         0          0          0          1
-0.0175605   0.978911   0.203532   0.223377
  0.818427   0.131006  -0.559478   0.012356
 -0.574343   0.156751  -0.803467   0.765336
         0          0          0          1
