2
  0.924856   0.347574   0.154383  -0.145084
  0.371311  -0.737392  -0.564253  0.0577538
-0.0822789   0.579177  -0.811039   0.626495
         0          0          0          1
 0.965007 -0.218834  0.144478 -0.167083
-0.108806 -0.835456 -0.538679 -0.194527
 0.238587  0.504108 -0.830031  0.785704
        0         0         0         1
