2
  0.971458  0.0374255  -0.234241 -0.0359823
  0.140376   0.705307   0.694865  0.0536399
  0.191217  -0.707914   0.679922   0.721469
         0          0          0          1
 0.806386  0.541392 -0.237982 -0.166349
-0.281167  0.704995  0.651097 -0.162353
 0.520275 -0.458123   0.72072  0.882488
        0         0         0         1
