2
  0.378255   0.925407  0.0233509   0.155089
 -0.731303    0.28326   0.620451 -0.0525343
  0.567556  -0.251765   0.783897   0.781659
         0          0          0          1
 -0.170582   0.985084  -0.022635  -0.150414
 -0.790723  -0.123146    0.59966 -0.0436643
  0.587928   0.120189   0.799935   0.767288
         0          0          0          1
