2
  0.945895  -0.152034  -0.286649   0.169746
 -0.310069  -0.683824  -0.660487  0.0442027
-0.0956009   0.713632  -0.693967   0.610297
         0          0          0          1
  0.766273  -0.590894   -0.25233  0.0076921
 -0.578715   -0.46412  -0.670583 -0.0978947
  0.279131   0.659877  -0.697602   0.828834
         0          0          0          1
