2
 0.557791  0.829906 0.0112102  0.125461
-0.588532  0.385964  0.710395 -0.082615
 0.585235 -0.402849  0.703714  0.944589
        0         0         0         1
  0.123809   0.991851 -0.0300664  -0.177155
 -0.616954   0.100673   0.780534  -0.107195
    0.7772 -0.0780873    0.62439    0.92275
         0          0          0          1
