2
   0.99467  -0.102484 -0.0113249   0.147138
 0.0885023   0.792256   0.603736   0.131346
-0.0529008  -0.601521   0.797104   0.699493
         0          0          0          1
  0.960523   0.269895 -0.0674774  0.0500218
 -0.178293   0.783384   0.595416 -0.0960428
  0.213561   -0.55988   0.800579   0.880701
         0          0          0          1
