2
-0.0775035   0.994899  0.0645757 -0.0263368
 -0.849502 -0.0998025    0.51806  -0.129596
  0.521862 -0.0147057   0.852903   0.870784
         0          0          0          1
 -0.623273   0.781824  0.0168036  -0.287683
 -0.663463  -0.540045    0.51785 0.00353566
  0.413942   0.311613   0.855307   0.792463
         0          0          0          1
