2
 0.989081  0.129555 0.0702465  0.121938
-0.146065  0.798386  0.584162  0.039395
0.0195974 -0.588044  0.808592  0.682748
        0         0         0         1
  0.911464   0.411242   -0.01068 -0.0504455
 -0.322811   0.731079   0.601097  -0.151287
  0.255004   -0.54443   0.799105   0.846709
         0          0          0          1
