2
  0.976499    0.21363 -0.0284964   0.260857
 -0.155417   0.789593   0.593624  -0.114036
  0.149317  -0.575244   0.804238   0.713507
         0          0          0          1
  0.917892   0.394144 -0.0461003  0.0702532
 -0.294768   0.754975   0.585769  -0.292233
  0.265682  -0.524084   0.809166   0.859831
         0          0          0          1
