2
   0.977271   -0.211977 -0.00282376    0.113819
   0.156431    0.712071     0.68446    0.155351
  -0.143079   -0.669344    0.729046    0.727058
          0           0           0           1
  0.942716   0.333387 -0.0117964  0.0379251
 -0.236924   0.694005   0.679871  -0.046356
  0.234847  -0.638131   0.733237   0.941748
         0          0          0          1
