2
  0.961203   0.178341  -0.210435  0.0192125
-0.0301734   0.826285   0.562443  0.0814139
  0.274186  -0.534273   0.799609    0.79425
         0          0          0          1
 0.715018  0.661266 -0.226882 -0.155279
-0.485597  0.703236  0.519283 -0.145026
 0.502936 -0.261124  0.823936  0.894491
        0         0         0         1
