2
   0.969202  -0.0552298    0.239995 -0.00807405
   0.128832    -0.71683   -0.685242  0.00683192
   0.209882    0.695057   -0.687637    0.681242
          0           0           0           1
 0.800231 -0.547763  0.244102 -0.146408
-0.284947  -0.70547 -0.648936 -0.207133
 0.527669  0.449743 -0.720622  0.834526
        0         0         0         1
