2
  -0.15936   0.959857   0.230821   0.150391
 -0.613061  -0.279482   0.738949 -0.0776272
  0.773796 -0.0237483   0.632989   0.877171
         0          0          0          1
-0.586686  0.778184   0.22412 -0.115711
-0.394001 -0.516082  0.760541 0.0601934
 0.707505  0.357895  0.609384  0.818256
        0         0         0         1
