3
 -0.499044  -0.861558 -0.0931216  -0.135469
  0.661922  -0.448336   0.600711 0.00707266
 -0.559298   0.238142   0.794024   0.768731
         0          0          0          1
0.00782296  -0.995605 -0.0933249     0.1644
  0.770769 -0.0534542   0.634868  0.0198203
 -0.637067 -0.0768985   0.766963   0.771275
         0          0          0          1
  0.590093   -0.80311 -0.0824891  0.0112509
  0.609584    0.37623   0.697752  -0.169083
 -0.529337  -0.462023   0.711574   0.938765
         0          0          0          1
