3
  0.461763   0.882566   0.088613  0.0544239
  0.705726  -0.305036  -0.639456 -0.0138486
 -0.537332   0.357814  -0.763704   0.763766
         0          0          0          1
  0.801486   0.590792 -0.0926542    0.21794
  0.357267  -0.597292  -0.718055  -0.221089
 -0.479563   0.542409  -0.689792   0.892566
         0          0          0          1
  0.996822 -0.0273824 -0.0748138 -0.0789618
-0.0713048  -0.725486  -0.684534  -0.215628
-0.0355322   0.687693  -0.725132   0.920651
         0          0          0          1
