2
-0.0783301  -0.918997   0.386404  0.0317668
 -0.933191 -0.0687737  -0.352739  -0.255855
  0.350741  -0.388218  -0.852213    0.86803
         0          0          0          1
-0.519579 -0.739652  0.427729 -0.204435
-0.849888  0.395892 -0.347793 -0.164396
0.0879114 -0.544228 -0.834319  0.698816
        0         0         0         1
