2
 0.0944107   0.995269  0.0229513  0.0850189
 -0.850777  0.0686895   0.521019   -0.18386
  0.516978 -0.0687163   0.853236   0.946293
         0          0          0          1
 -0.460709   0.885442 -0.0611541  -0.204008
 -0.777623  -0.369474   0.508716  -0.103526
  0.427844   0.281925    0.85876   0.879737
         0          0          0          1
