2
   0.992332  -0.0695691    0.102166 -0.00665882
  0.0244351   -0.699837   -0.713884   0.0369818
   0.121164    0.710907   -0.692771    0.686861
          0           0           0           1
 0.809163 -0.577674  0.107463 -0.151373
-0.371993 -0.645202 -0.667335  -0.16162
 0.454837  0.500007 -0.736964  0.856957
        0         0         0         1
