3
  -0.999271  -0.0380431 -0.00318304   -0.232732
  0.0293588   -0.819095    0.572907 -0.00569823
 -0.0244024    0.572395    0.819615    0.747978
          0           0           0           1
 -0.493275   -0.86772 -0.0611674  0.0184767
  0.672614  -0.425061   0.605734   0.117954
 -0.551607   0.257651   0.793313   0.649251
         0          0          0          1
 0.0844863  -0.993331 -0.0784577  0.0212649
  0.778326  0.0166257    0.62764  -0.106999
  -0.62215  -0.114093    0.77454   0.849039
         0          0          0          1
