2
  0.737885   0.615528   0.276859 -0.0950952
  0.549761  -0.310188  -0.775595  0.0617308
 -0.391522   0.724506  -0.567276   0.647708
         0          0          0          1
  0.959815   0.136678   0.245098 -0.0208683
  0.278906  -0.561296  -0.779204 -0.0994084
 0.0310722   0.816251  -0.576861   0.897682
         0          0          0          1
