2
  0.139844  -0.987575  0.0716984   0.209955
 -0.859405  -0.157021  -0.486587  -0.208169
  0.491799 0.00642831  -0.870685    0.90972
         0          0          0          1
 -0.414132  -0.900686   0.131377 -0.0713015
 -0.820209   0.306691  -0.482906  -0.147093
  0.394654  -0.307744  -0.865761   0.825249
         0          0          0          1
