2
  0.547766   0.755009   0.360436   0.143648
 -0.781319   0.307595   0.543071 -0.0432684
  0.299155  -0.579091   0.758393   0.767208
         0          0          0          1
   0.304923    0.897894    0.317503    -0.14048
   -0.79732   0.0583454     0.60073 0.000662297
   0.520867   -0.436328      0.7337    0.880545
          0           0           0           1
