2
  0.978989   0.119346  -0.165338 0.00879193
-0.0234462   0.871337   0.490126 -0.0165797
  0.202559  -0.475951   0.855827   0.737384
         0          0          0          1
 0.761724  0.623079  -0.17762 -0.147978
-0.493627  0.735681  0.463795 -0.252449
 0.419653 -0.265606  0.867955   0.82886
        0         0         0         1
