2
  0.70064  -0.70275  0.123475  0.137579
 0.425443  0.550388  0.718381  0.135838
-0.572801 -0.450795  0.684604  0.692078
        0         0         0         1
  0.971761  -0.181472   0.150828   0.238089
 0.0221821    0.70661   0.707256 -0.0601814
 -0.234924  -0.683938   0.690681   0.900196
         0          0          0          1
