2
  0.0642344   -0.997003   0.0431242  -0.0395742
  -0.839151  -0.0773512   -0.538371   -0.138544
   0.540093 -0.00160564   -0.841604    0.806043
          0           0           0           1
 -0.479876  -0.871637  0.0998349   -0.31635
 -0.764343   0.359495  -0.535297 -0.0559694
  0.430694  -0.333184  -0.838743   0.717671
         0          0          0          1
