2
  0.137416   0.989847  0.0363192   0.134377
 -0.833613  0.0957675   0.543983 -0.0817885
  0.534982  -0.105028   0.838309   0.777428
         0          0          0          1
 -0.420147   0.907146 -0.0237162   -0.16165
 -0.771794  -0.343467   0.535131 -0.0102568
  0.477296   0.243138   0.844437    0.72374
         0          0          0          1
