2
 0.987996 0.0615509  0.141687  0.156246
 0.134479 -0.794049 -0.592792 0.0849439
0.0760192   0.60473 -0.792795  0.667743
        0         0         0         1
 0.874176 -0.466637  0.134409 0.0384093
-0.313981 -0.754283 -0.576606 -0.151082
 0.370448  0.461854 -0.805891  0.816412
        0         0         0         1
