2
  0.994381 -0.0610968 -0.0864518   0.042869
 -0.100416  -0.802934  -0.587549   0.105633
-0.0335178   0.592929  -0.804557   0.762344
         0          0          0          1
  0.825333  -0.556247 -0.0970336 -0.0974983
 -0.508103  -0.656679  -0.557319  -0.106714
  0.246287   0.509277  -0.824609   0.923017
         0          0          0          1
