2
  0.768263   0.521438   0.371315  -0.155171
  0.636417  -0.559751  -0.530709  0.0315108
-0.0688879   0.644035  -0.761888    0.64666
         0          0          0          1
 0.938245 0.0154158  0.345629 -0.105979
  0.20628 -0.826942 -0.523083 -0.204233
 0.277751  0.562076 -0.779054  0.825162
        0         0         0         1
