3
  0.979775   0.197417  0.0326829   0.156155
  0.167282  -0.718437  -0.675178 -0.0493432
 -0.109811    0.66699   -0.73693   0.669499
         0          0          0          1
  0.967985  -0.243509 -0.0608899  0.0700532
 -0.220218   -0.70748  -0.671548  -0.267075
  0.120449   0.663457  -0.738455   0.847471
         0          0          0          1
  0.583236  -0.811218 -0.0419741  -0.128333
  -0.63156   -0.42036  -0.651483 -0.0919184
   0.51085   0.406477  -0.757502   0.706952
         0          0          0          1
