2
  0.172647   0.957429   0.231352  -0.101365
   0.84584 -0.0237536  -0.532909 0.00520219
 -0.504727   0.287692  -0.813932   0.671908
         0          0          0          1
 0.658882  0.726101  0.196601  0.141938
 0.693122 -0.484432 -0.533767 -0.117456
-0.292329  0.487958  -0.82246  0.809996
        0         0         0         1
