2
   0.812777   -0.538377    0.222584   0.0268087
  -0.339705   -0.748373   -0.569682 -1.6711e-05
    0.47328    0.387412    -0.79115    0.774901
          0           0           0           1
 0.401518  -0.88485  0.236271 -0.232168
-0.678748 -0.460701 -0.571888 -0.146494
 0.614885 0.0692545  -0.78557  0.799697
        0         0         0         1
