2
  0.782937   0.611416  -0.114804 -0.0352071
  0.436305  -0.671223  -0.599248  0.0737096
 -0.443449   0.419084  -0.792289   0.804543
         0          0          0          1
  0.986925  0.0973493  -0.128462  0.0265193
0.00106493  -0.800924  -0.598765  -0.166661
 -0.161177   0.590799  -0.790556   0.972535
         0          0          0          1
