3
  0.729168    0.68429 0.00779021   0.078577
  0.400844  -0.417851  -0.815307  0.0612601
 -0.554651   0.597619  -0.578977   0.709957
         0          0          0          1
  0.480035   -0.87685 -0.0264517 -0.0243963
  -0.52512  -0.263064  -0.809349 -0.0983592
   0.70272   0.402407  -0.586732   0.944451
         0          0          0          1
 0.841892 -0.539575 0.0087807 -0.214906
-0.298922 -0.479828  -0.82487 0.0347061
 0.449292  0.691826 -0.565255  0.746215
        0         0         0         1
