3
  0.220287   0.974823  0.0345607   0.135527
  0.557412 -0.0967276  -0.824582   0.132415
 -0.800479   0.200909  -0.564685   0.664851
         0          0          0          1
  0.998568  0.0523803 -0.0108869   0.207725
 0.0203247  -0.559659  -0.828474  -0.030642
-0.0494886   0.827066  -0.559922   0.909902
         0          0          0          1
  0.976273  -0.216113 -0.0136705 -0.0814697
 -0.130391   -0.53628  -0.833907  0.0174328
  0.172887   0.815904  -0.551735   0.838516
         0          0          0          1
