2
  0.128971  -0.981449   -0.14186 -0.0862571
  0.858307  0.0388328   0.511665   0.025093
 -0.496665  -0.187749   0.847393   0.743826
         0          0          0          1
 0.648133 -0.753648 -0.109263  0.167808
 0.686161  0.515714  0.513052 -0.100574
-0.330312 -0.407498  0.851375  0.854929
        0         0         0         1
