2
  0.536707  -0.839781 -0.0819404 -0.0817272
  0.723706   0.408231   0.556415   0.176649
 -0.433816  -0.357932   0.826855   0.788058
         0          0          0          1
  0.912272  -0.406804 -0.0476521  0.0763857
  0.361028   0.743713   0.562628 -0.0373927
  -0.19344  -0.530473   0.825336   0.935956
         0          0          0          1
