2
  0.947418  -0.197456   0.251812   0.113058
-0.0524467  -0.872095   -0.48652  0.0343795
   0.31567   0.447731  -0.836594   0.709798
         0          0          0          1
  0.708812  -0.652592   0.267788 -0.0647497
 -0.506067  -0.734912  -0.451444  -0.198217
  0.491409    0.18447  -0.851169   0.780069
         0          0          0          1
