2
 -0.130221   0.990669  0.0402272 -0.0579161
 -0.884293  -0.134396   0.447173  -0.230924
  0.448406  0.0226586   0.893543   0.918308
         0          0          0          1
   -0.644754      0.76439 -0.000689869    -0.308661
   -0.681721    -0.574615     0.452851   -0.0879329
    0.345758     0.292448     0.891586     0.841955
           0            0            0            1
