2
 0.0208466  -0.999107   0.036743 -0.0581091
 -0.864107 -0.0364909  -0.501984  -0.202108
  0.502876 -0.0212852  -0.864097    0.88294
         0          0          0          1
-0.517105 -0.851031 0.0913723 -0.327571
-0.762384  0.409436 -0.501132 -0.104055
 0.389068 -0.328799 -0.860533  0.793721
        0         0         0         1
