2
  0.804557  -0.593418  0.0232907 -0.0477466
  0.460541   0.648203   0.606412  0.0942191
 -0.374953  -0.477167   0.794809    0.82215
         0          0          0          1
  0.997248 -0.0693337  0.0262746  0.0138046
 0.0394641   0.796345   0.603554  -0.141924
-0.0627702  -0.600856   0.796889   0.995525
         0          0          0          1
