2
  0.970715    0.23781  -0.034022 -0.0278746
 -0.173121   0.790676   0.587249   0.101272
  0.166554  -0.564162   0.808691   0.767318
         0          0          0          1
  0.689883   0.721421 -0.0601053   -0.22207
 -0.583261   0.603097   0.544132 -0.0964181
  0.428798   -0.34033   0.836844   0.887884
         0          0          0          1
