2
   0.864725    0.501232   0.0318864     0.10751
  -0.469703    0.784585    0.404729 -0.00966716
   0.177845   -0.364956     0.91388    0.847341
          0           0           0           1
  0.470654   0.882294 0.00652379   -0.14309
 -0.823234   0.436465   0.363021  -0.167677
  0.317444  -0.176228   0.931758   0.913492
         0          0          0          1
