3
  0.990234  0.0515012   0.129554   0.103549
 -0.108826   0.866373   0.487395 -0.0111096
-0.0871408  -0.496734   0.863517   0.823156
         0          0          0          1
  0.843498    0.51462   0.153875 -0.0573683
 -0.520897   0.713817   0.468115  -0.220216
  0.131063  -0.475007   0.870167   0.950007
         0          0          0          1
 0.369056  0.908862  0.194339 -0.184213
-0.852567  0.247809   0.46013 0.0294946
 0.370036 -0.335501  0.866321  0.850944
        0         0         0         1
