2
  0.968938   0.150737   0.196057  0.0358524
  0.242893  -0.729136  -0.639816 -0.0211588
 0.0465076   0.667562    -0.7431   0.744954
         0          0          0          1
  0.903627   -0.38463   0.188461 -0.0464715
 -0.204065  -0.773457  -0.600102  -0.250164
  0.376584    0.50381  -0.777406   0.910791
         0          0          0          1
