2
  0.165086   0.960335  -0.224731 -0.0487188
 -0.809001   0.262185   0.526096  -0.160657
  0.564149  0.0949556   0.820195    0.91475
         0          0          0          1
-0.371208  0.886851 -0.275135 -0.328372
-0.833877 -0.188043   0.51893 -0.136344
 0.408477  0.422059  0.809329  0.801267
        0         0         0         1
