2
  0.989842  0.0899581  -0.110091  0.0209555
-0.0218661   0.861474   0.507331  0.0125595
  0.140479   -0.49977   0.854691   0.725871
         0          0          0          1
 0.798484  0.590181 -0.118784 -0.128037
-0.481396  0.744428  0.462694 -0.223438
   0.3615 -0.312272  0.878524  0.833755
        0         0         0         1
