3
  0.570159   0.801362   0.180933 -0.0680971
  0.565687  -0.223248  -0.793825   0.140974
 -0.595748   0.554958  -0.580608   0.669885
         0          0          0          1
  0.990127 -0.0999648  0.0982641  -0.101389
 0.0101365  -0.648118  -0.761472 -0.0480801
  0.139807    0.75495  -0.640706   0.903794
         0          0          0          1
 0.859928  -0.50394  0.081043 -0.335677
 -0.25099 -0.555749 -0.792557  0.051267
 0.444441  0.661201 -0.604388  0.734973
        0         0         0         1
