3
 -0.999262  0.0347323  0.0164449   -0.15055
-0.0129682  -0.707608   0.706486 -0.0173628
 0.0361743   0.705751   0.707536    0.68383
         0          0          0          1
 -0.586988  -0.808334 -0.0451782  0.0858994
  0.529463  -0.425499   0.733907  0.0984748
 -0.612465   0.406874   0.677746   0.537801
         0          0          0          1
-0.00189292   -0.996829  -0.0795526     0.11496
    0.65879  -0.0610926    0.749843  -0.0866941
  -0.752325  -0.0509893    0.656816    0.778595
          0           0           0           1
