3
   0.934576    0.349013  -0.0689786   0.0688833
    0.14962   -0.561495   -0.813841 -0.00886141
  -0.322773    0.750276   -0.576979      0.6962
          0           0           0           1
  0.784435  -0.618571 -0.0450676 -0.0868216
 -0.409339  -0.461768  -0.786901  -0.149515
  0.465943   0.635721  -0.615432   0.909988
         0          0          0          1
  0.129152  -0.988356 -0.0804555  -0.227284
 -0.601511 -0.0135805  -0.798749  0.0151576
  0.788356   0.151555   -0.59626   0.695441
         0          0          0          1
