2
  0.978552 -0.0147498    0.20547   0.203046
 -0.107006   0.815913   0.568187  0.0719395
 -0.176026  -0.577987   0.796835   0.728152
         0          0          0          1
 0.956665  0.265064  0.120555 0.0747245
-0.284007  0.757945  0.587248  -0.13064
0.0642838 -0.596038  0.800379  0.918149
        0         0         0         1
