2
 -0.506689   0.861387  0.0357461 -0.0852129
  0.672477   0.420833  -0.608831  0.0354465
 -0.539482  -0.284449  -0.792495   0.795771
         0          0          0          1
 0.0352119   0.999378 0.00218498    0.22191
  0.778876 -0.0260728  -0.626636  0.0526215
 -0.626189  0.0237668  -0.779309   0.779955
         0          0          0          1
