2
 0.997404 0.0705335 0.0144663 0.0680967
-0.064433  0.784688  0.616533 0.0779183
0.0321347 -0.615865  0.787196  0.695229
        0         0         0         1
   0.826013    0.563643 -0.00306642  -0.0826469
  -0.447015     0.65839    0.605558   -0.120257
   0.343338   -0.498828    0.795795     0.86892
          0           0           0           1
