2
  0.934611  0.0944337  -0.342906 -0.0256533
  0.121692    0.82102    0.55778   0.150357
  0.334206  -0.563036   0.755842    0.82343
         0          0          0          1
  0.759465   0.545571  -0.354351  -0.171803
 -0.330387   0.792685   0.512343 -0.0961315
  0.560408  -0.272034   0.782266   0.924445
         0          0          0          1
