2
  0.986517  0.0449458   0.157364  0.0924776
 -0.138518   0.741391   0.656621  0.0699092
-0.0871557  -0.669566   0.737621   0.745971
         0          0          0          1
  0.926796     0.3652  0.0876302 -0.0563545
 -0.326308   0.667496   0.669308  -0.106276
  0.185938  -0.648906     0.7378   0.945767
         0          0          0          1
