2
  0.953051   0.296491 -0.0615386   0.149216
 -0.200584   0.770378   0.605214   0.120226
  0.226849  -0.564456   0.793681   0.741266
         0          0          0          1
  0.653968    0.75411 -0.0603624 -0.0577914
 -0.592121   0.559882    0.57959 -0.0697177
  0.470871  -0.343291   0.812669    0.85942
         0          0          0          1
