2
  0.981116  -0.162132   0.105471  0.0804931
-0.0765269  -0.826191  -0.558169  0.0622315
  0.177636   0.539558  -0.822997   0.705091
         0          0          0          1
  0.745658  -0.657273   0.109481 -0.0977158
  -0.51783  -0.675006  -0.525565  -0.153389
   0.41934     0.3352   -0.84368   0.819123
         0          0          0          1
