2
  0.758147   0.537617   0.369028  -0.153155
  0.645867  -0.541144  -0.538534  0.0347279
-0.0898276    0.64663  -0.757496   0.651118
         0          0          0          1
 0.937453 0.0352687  0.346321 -0.101559
 0.226451 -0.817371 -0.529739 -0.199538
 0.264389   0.57503 -0.774234  0.831879
        0         0         0         1
