2
 0.984456   0.17216 0.0347611  0.071277
-0.145431  0.688073  0.710919 0.0900365
0.0984736 -0.704924  0.702414  0.660453
        0         0         0         1
  0.743948   0.667621  0.0287037  -0.107972
 -0.509486   0.538892   0.670835 -0.0851618
  0.432395   -0.51369   0.741051   0.836573
         0          0          0          1
