3
  0.980951   0.059564     0.1849   0.114453
 -0.143179   0.864969   0.480966 -0.0152289
 -0.131284  -0.498278    0.85702   0.821524
         0          0          0          1
  0.798307    0.57612   0.175474 -0.0458125
 -0.581771   0.662366   0.472033  -0.225893
   0.15572  -0.478913   0.863941   0.947378
         0          0          0          1
 0.274743  0.931503  0.238368 -0.173608
-0.889647  0.152227   0.43053 0.0243219
 0.364754 -0.330348  0.870532  0.852653
        0         0         0         1
