3
 -0.898182  -0.392774   0.197477  -0.109378
   -0.4396   0.797812   -0.41261  -0.173214
0.00451273   -0.45741  -0.889245   0.868492
         0          0          0          1
 -0.956431   0.129111   0.261858 -0.0946911
0.00649435   0.906091  -0.423033  0.0905197
 -0.291886  -0.402902  -0.867452   0.732769
         0          0          0          1
 -0.738406    0.63757   0.219684      0.148
  0.510875   0.741527  -0.434907 -0.0400892
 -0.440185  -0.208907  -0.873267   0.865705
         0          0          0          1
