2
 -0.518699  -0.834402  -0.186348  -0.197986
  0.476061  -0.462925   0.747707 -0.0264323
 -0.710154   0.299122   0.637345   0.709952
         0          0          0          1
0.00619869  -0.988514  -0.150999   0.104483
  0.630038    -0.1134    0.76824  0.0320414
  -0.77654 -0.0998973   0.622099   0.708435
         0          0          0          1
