2
-0.00249665    0.992758    0.120107    0.162154
  -0.812257  -0.0720716     0.57883   -0.012367
   0.583294   -0.096113    0.806554    0.923816
          0           0           0           1
-0.524789  0.847995 0.0741779 -0.117426
-0.664909  -0.46277  0.586293  0.103178
 0.531501  0.258358  0.806696  0.867392
        0         0         0         1
