2
  0.955368   0.204785  -0.212919  0.0158828
-0.0543305   0.830245   0.554746  0.0650691
  0.290379  -0.518419   0.804315   0.794842
         0          0          0          1
 0.703343  0.670992 -0.234687 -0.164893
 -0.49596  0.699722  0.514211 -0.158351
 0.509247 -0.245271   0.82493  0.888054
        0         0         0         1
