2
 0.847327  0.529302 0.0433257 0.0736593
-0.448324  0.669186  0.592619 -0.157079
 0.284681 -0.521566  0.804318  0.836388
        0         0         0         1
  0.625855   0.779766 -0.0164215  -0.202118
 -0.602525   0.496753    0.62466  -0.235043
  0.495247  -0.381052   0.780724   0.923545
         0          0          0          1
