2
  0.729743   0.628307   0.269638 -0.0991832
   0.54565   -0.29754  -0.783413  0.0613948
 -0.411996   0.718818  -0.559964   0.651722
         0          0          0          1
  0.957583   0.158962   0.240347 -0.0175971
  0.287973  -0.557881  -0.778358 -0.0958862
 0.0103558   0.814555  -0.579994   0.902233
         0          0          0          1
