2
  0.104781  -0.982239   0.155653 -0.0172867
  0.671455   0.185328   0.717496 0.00414461
   -0.7336  0.0293342   0.678948    0.73999
         0          0          0          1
 0.608564  -0.77771  0.157534  0.237287
 0.486321  0.522425  0.700403 -0.123629
 -0.62701 -0.349628  0.696146  0.834996
        0         0         0         1
