2
  0.935878   0.326264   0.132987  -0.133945
  0.342921  -0.756889  -0.556349  0.0569212
-0.0808601   0.566279  -0.820238   0.639386
         0          0          0          1
 0.965813 -0.236331  0.106551 -0.165866
-0.143458 -0.829573 -0.539657 -0.196296
 0.215929  0.505922 -0.835116  0.795155
        0         0         0         1
