2
 0.971903 -0.231381 0.0432092 0.0122351
-0.161219 -0.788125 -0.594027 0.0475313
 0.171501   0.57037 -0.803284  0.705102
        0         0         0         1
 0.702826 -0.709319 0.0538743 -0.177878
-0.569547 -0.606473 -0.554804 -0.150659
 0.426206  0.359247 -0.830235  0.829452
        0         0         0         1
