2
-0.00218993     0.99249     0.12231    0.111315
  -0.734448  -0.0846035    0.673371  -0.0906644
   0.678661  -0.0883558    0.729118    0.827776
          0           0           0           1
-0.549475  0.833223 0.0617777 -0.167617
-0.591741 -0.440294  0.675266 0.0168229
 0.589848  0.334485  0.734983  0.751771
        0         0         0         1
