2
 0.00617243   -0.986213   -0.165368  -0.0538019
   0.925027  -0.0571863    0.375573 -0.00891262
  -0.379852   -0.155288     0.91192    0.724082
          0           0           0           1
 0.546064 -0.825648 -0.141844  0.216478
 0.800854  0.464791  0.377627 -0.116715
-0.245859 -0.319805  0.915029  0.810659
        0         0         0         1
