2
  0.892882   0.406095   0.194549 -0.0993603
  0.412584  -0.564739  -0.714733  0.0534203
 -0.180381    0.71844  -0.671794   0.687144
         0          0          0          1
 0.977504 -0.131619  0.164812  -0.10498
0.0195332 -0.721553 -0.692083 -0.158241
 0.210012  0.679734  -0.70275  0.901224
        0         0         0         1
