2
  0.955574 -0.0926847     0.2798    0.04099
 0.0988581   -0.79351  -0.600474  0.0469656
  0.277679   0.601458  -0.749095   0.695116
         0          0          0          1
 0.774632 -0.566185  0.281745 -0.109339
-0.345716 -0.752163 -0.561009 -0.185478
 0.529553  0.337172 -0.778389  0.814032
        0         0         0         1
