3
   0.991925  0.00419593    0.126757    0.106272
 -0.0702516    0.850293      0.5216 -0.00694346
  -0.105592   -0.526293    0.843722      0.8252
          0           0           0           1
  0.822289   0.566122  0.0578441 -0.0488482
 -0.509497   0.687119   0.517957  -0.221026
  0.253481  -0.455382   0.853449   0.956827
         0          0          0          1
  0.37946  0.911132  0.160775 -0.185745
-0.833886  0.261524  0.486045 0.0125219
 0.400805 -0.318503  0.859018   0.84589
        0         0         0         1
