2
  0.978989  -0.119346   0.165338  0.0196841
-0.0234462  -0.871337  -0.490126 -0.0517068
  0.202559   0.475951  -0.855827   0.685856
         0          0          0          1
 0.761724 -0.623079   0.17762 -0.138948
-0.493627 -0.735681 -0.463795 -0.285758
 0.419653  0.265606 -0.867955  0.775785
        0         0         0         1
