3
 -0.150562  -0.978762   -0.13913   -0.14358
  0.910356  -0.192139   0.366517   0.128794
 -0.385465 -0.0714744    0.91995   0.900399
         0          0          0          1
 0.452407 -0.880593 -0.141006  0.135578
 0.848568  0.376418  0.371808 0.0362541
-0.274334 -0.287862  0.917538  0.979252
        0         0         0         1
  0.846691  -0.515309  -0.132558  -0.103079
  0.523087   0.760503   0.384727  -0.141747
-0.0974423  -0.395084   0.913463    1.01525
         0          0          0          1
