2
0.00649371  -0.994246   0.106925  -0.120241
 -0.872471 -0.0578813  -0.485225  -0.203893
  0.488622 -0.0901377  -0.867827   0.855256
         0          0          0          1
-0.536348 -0.825758  0.174515 -0.385025
-0.774343  0.399194 -0.490956 -0.115702
 0.335745 -0.398457 -0.853527  0.753055
        0         0         0         1
