3
  0.998964  0.0442901  0.0104812   0.137378
 0.0428895  -0.839009  -0.542425  0.0902471
-0.0152303   0.542313  -0.840039    0.74607
         0          0          0          1
   0.857248   -0.514344   0.0239949 -0.00276728
  -0.418392   -0.722975   -0.549777   -0.136606
   0.300122    0.461256   -0.834967    0.885585
          0           0           0           1
 0.449175 -0.893363  0.012048 -0.157796
-0.751011 -0.384838 -0.536546 0.0714682
 0.483967  0.231955 -0.843785  0.741414
        0         0         0         1
