2
  0.322445   0.903378   0.282733  -0.155533
  0.810417  -0.109116  -0.575602 -0.0194326
 -0.489136   0.414732  -0.767296    0.64651
         0          0          0          1
 0.754101  0.610177  0.242932 0.0578019
 0.617125 -0.531782 -0.579971 -0.157438
-0.224698  0.587276 -0.777572  0.818702
        0         0         0         1
