3
-0.954664   0.26144  0.142358  -0.17918
-0.119804 -0.775205  0.620246 -0.137429
 0.272514  0.575071  0.771382   0.95282
        0         0         0         1
 -0.952972    0.26899   0.139607 -0.0820947
 -0.120143   -0.75823   0.640822  0.0589362
  0.278229   0.593912   0.754889   0.752148
         0          0          0          1
-0.753616 -0.643779  0.132707  0.114698
 0.524187 -0.466794  0.712272  -0.12305
-0.396599  0.606343  0.689244   0.87855
        0         0         0         1
