2
  0.989831  -0.041149   0.136171  0.0871602
-0.0587268   0.753661   0.654634  0.0555667
 -0.129564  -0.655974    0.74358   0.742985
         0          0          0          1
  0.842483   0.518608   0.145838 -0.0384467
 -0.482592   0.606206   0.632155  -0.128166
  0.239433   -0.60296   0.760994   0.948255
         0          0          0          1
