2
  0.938772  0.0939748  -0.331474 -0.0026226
 0.0527482    0.91154   0.407815   0.103581
  0.340476   -0.40033   0.850772   0.846327
         0          0          0          1
 0.747744  0.565706 -0.347643 -0.150314
-0.444323  0.815374  0.371135 -0.153439
 0.493413 -0.123048  0.861048  0.899613
        0         0         0         1
