2
   0.10335   0.994483 -0.0179343  0.0675763
 -0.851432  0.0977759   0.515271  -0.190776
  0.514182 -0.0379834    0.85684   0.941777
         0          0          0          1
 -0.462593   0.883071 -0.0786965  -0.220673
 -0.782347  -0.364843     0.5048  -0.115126
  0.417063   0.295085   0.859642   0.870583
         0          0          0          1
