3
 -0.933005   0.359814 0.00587458  -0.172006
  0.281127   0.738964  -0.612291 -0.0998943
 -0.224652  -0.569619  -0.790611   0.718831
         0          0          0          1
 -0.345083    0.93768  0.0409077  0.0987385
  0.696722   0.285123  -0.658243 -0.0177909
 -0.628886  -0.198647  -0.751693   0.629144
         0          0          0          1
 0.164013  0.986391 0.0115145 0.0602739
  0.67615 -0.103913 -0.729399 -0.223875
-0.718276  0.127416 -0.683992  0.838497
        0         0         0         1
