2
   0.128971    0.981449     0.14186   -0.072474
   0.858307  -0.0388328   -0.511665 -0.00648725
  -0.496665    0.187749   -0.847393    0.690716
          0           0           0           1
 0.648133  0.753648  0.109263  0.178988
 0.686161 -0.515714 -0.513052 -0.134703
-0.330312  0.407498 -0.851375  0.802795
        0         0         0         1
