3
  0.0523206   -0.941613   -0.332606 -0.00457379
  -0.756413    0.180086   -0.628815   -0.189025
   0.651998    0.284487   -0.702827    0.911805
          0           0           0           1
0.00883874  -0.948941  -0.315329  -0.189214
 -0.758257   0.199217  -0.620773  0.0183672
  0.651896   0.244587   -0.71778   0.797363
         0          0          0          1
 -0.485736  -0.813871  -0.318864  0.0974334
 -0.543055   0.566826  -0.619516 -0.0103098
  0.684947  -0.127761  -0.717304   0.699905
         0          0          0          1
