3
  -0.970899    0.239405 -0.00632693   -0.171961
    0.19628    0.780312   -0.593791   -0.107876
   -0.13722   -0.577753   -0.804594    0.720514
          0           0           0           1
 -0.365488   0.930606  0.0197549  0.0985674
  0.701129   0.289198  -0.651753 -0.0234125
 -0.612239  -0.224357  -0.758174   0.632019
         0          0          0          1
 0.265298  0.963035 0.0467056 0.0589827
 0.712062 -0.163039 -0.682925  -0.23344
-0.650066  0.214436 -0.728994  0.840579
        0         0         0         1
