2
  0.308325   0.950171 -0.0459448  0.0996963
 -0.802669   0.285775   0.523502  -0.215768
  0.510546   -0.12453   0.850785   0.844994
         0          0          0          1
-0.255565  0.961491   -0.1011  -0.19924
-0.838519  -0.16839    0.5182 -0.201777
 0.481221  0.217208  0.849263  0.794366
        0         0         0         1
