2
 -0.863429  -0.478912   0.158537 -0.0485521
  0.471976  -0.655922   0.589071  0.0495538
 -0.178126   0.583447   0.792377   0.878449
         0          0          0          1
-0.491681 -0.856238  0.158455  0.195539
  0.72816 -0.304497  0.614056  0.162015
-0.477528    0.4173  0.773194  0.730955
        0         0         0         1
