2
  0.952617   0.304138 0.00458634   0.147579
  0.221241  -0.682462  -0.696633   0.114926
 -0.208742    0.66464  -0.717413   0.647457
         0          0          0          1
  0.996945 -0.0359876  0.0693181  0.0899614
 0.0227375  -0.715348  -0.698399  -0.086168
 0.0747203   0.697841  -0.712344   0.866786
         0          0          0          1
