2
  0.945538   0.307246   0.107504  -0.065087
  0.310411  -0.751662  -0.581937  0.0204703
-0.0979908   0.583614  -0.806098   0.717028
         0          0          0          1
 0.962144 -0.249922   0.10871 -0.102503
-0.145906  -0.80924 -0.569072 -0.224935
 0.230195  0.531668 -0.815071  0.881748
        0         0         0         1
