2
   0.883642  -0.0520993   -0.465255 -0.00477377
   0.297504    0.829818    0.472115    0.144345
    0.36148   -0.555596    0.748763    0.758864
          0           0           0           1
 0.788007  0.406698 -0.462214 -0.103477
-0.200039  0.879153  0.432521 -0.125795
 0.582262 -0.248369  0.774135  0.854241
        0         0         0         1
