2
 -0.100782   0.963742    0.24707 -0.0341648
  0.853528   0.211352  -0.476257 0.00266124
 -0.511208   0.162883  -0.843882   0.714586
         0          0          0          1
  0.438588   0.870454   0.223493   0.245113
  0.823661  -0.289869    -0.4874 -0.0542218
 -0.359476    0.39785  -0.844092   0.823418
         0          0          0          1
