2
  0.988764  -0.125578  0.0810861   0.162798
-0.0608525  -0.833615  -0.548984  -0.143425
  0.136535   0.537882  -0.831891   0.700195
         0          0          0          1
  0.916981  -0.396924  0.0399528 -0.0189195
 -0.326982  -0.805195  -0.494715   -0.35135
  0.228534   0.440581  -0.868136   0.812877
         0          0          0          1
