2
  0.470728    0.88193  0.0248115  0.0349269
  0.610437  -0.305258  -0.730879 -0.0202021
  -0.63701   0.359191  -0.682056   0.653961
         0          0          0          1
  0.77804  0.625672 0.0564722   0.20763
 0.481915 -0.536764 -0.692562 -0.173698
-0.403004  0.566055 -0.719145  0.844937
        0         0         0         1
