3
  -0.586309    0.793506    0.163067   -0.100253
   0.467732    0.495948   -0.731616 -0.00569483
  -0.661415   -0.352681   -0.661927     0.83047
          0           0           0           1
  -0.10138   0.983388   0.150567   0.199426
  0.573769   0.181436  -0.798668  0.0217361
 -0.812719 0.00542195  -0.582631   0.792009
         0          0          0          1
 0.397981  0.911052  0.107677   0.07922
 0.511009 -0.122674 -0.850776  -0.13276
-0.761893  0.393617 -0.514378   1.02302
        0         0         0         1
