2
   0.408387    0.858213    0.310951   -0.168841
   0.686809  -0.0645125   -0.723969 -0.00718607
   -0.60126    0.509223   -0.615775    0.655968
          0           0           0           1
 0.798254  0.533143  0.280265 0.0198094
   0.5383 -0.422714 -0.729072  -0.11672
-0.270228  0.732851 -0.624425  0.871717
        0         0         0         1
