3
  0.990496  0.0320963   0.133742   0.115143
-0.0940716   0.867469   0.488516 -0.0130642
 -0.100338  -0.496455   0.862244     0.8224
         0          0          0          1
  0.818219   0.559791   0.130965 -0.0471303
 -0.548903   0.692934   0.467492  -0.222673
  0.170948  -0.454398   0.874243   0.950498
         0          0          0          1
  0.36373   0.90626  0.215393 -0.171528
-0.864478  0.242283  0.440428 0.0254744
 0.346957 -0.346399  0.871567  0.854055
        0         0         0         1
