2
  0.996595 -0.0593445  0.0572343  0.0794618
0.00481727   0.734921   0.678136   0.118016
-0.0823063  -0.675551   0.732705   0.744028
         0          0          0          1
  0.959438   0.281296 -0.0187472 -0.0520982
 -0.190344   0.695404   0.692952 -0.0679378
  0.207962  -0.661276    0.72074   0.945309
         0          0          0          1
