2
 0.997819 0.0625051 -0.021231   0.12894
0.0342683 -0.765356 -0.642695 0.0372796
-0.056421  0.640565 -0.765828  0.591865
        0         0         0         1
  0.969361   -0.23498  0.0715837 0.00730301
 -0.131569  -0.742758  -0.656506  -0.166203
  0.207435   0.626973  -0.750916    0.78291
         0          0          0          1
