2
  0.473104   0.862912   0.177639 -0.0463288
   0.75231  -0.290766  -0.591173    0.10393
 -0.458478   0.413326   -0.78674   0.672962
         0          0          0          1
  0.856398   0.492982   0.153466   0.130902
   0.47774  -0.643867  -0.597662 -0.0777608
 -0.195825   0.585153  -0.786924   0.839901
         0          0          0          1
