3
  0.999914 0.00039271   0.013078   0.140107
0.00938829  -0.717732  -0.696256   0.111148
0.00911305   0.696319  -0.717674   0.759952
         0          0          0          1
   0.747506   -0.664108   0.0139785 -0.00179748
  -0.477901   -0.552293   -0.683069   -0.107611
   0.461352    0.503918    -0.73022    0.913832
          0           0           0           1
 0.424577 -0.899309 -0.104774 -0.157823
-0.732306 -0.273053 -0.623835 0.0969595
 0.532412  0.341592 -0.774501  0.756674
        0         0         0         1
