2
-0.0402469   0.999183 -0.0036966 -0.0460361
 -0.842767 -0.0319583    0.53733 -0.0988849
  0.536772  0.0247411   0.843364   0.912563
         0          0          0          1
 -0.578457   0.813183 -0.0641901  -0.312927
  -0.70638  -0.460016   0.537971  0.0132235
  0.407941   0.356536   0.840516   0.816874
         0          0          0          1
