2
  0.884349  0.0845241   0.459111 -0.0171989
  0.323624  -0.819795  -0.472444  0.0740077
  0.336444   0.566385  -0.752339   0.710249
         0          0          0          1
 0.803598 -0.376863  0.460656 -0.107954
-0.171226 -0.887655 -0.427494 -0.194166
  0.57001  0.264657 -0.777847  0.807608
        0         0         0         1
