3
  0.162314  -0.972583  -0.166543  0.0384909
  0.727618 0.00396717   0.685971  0.0544393
 -0.666503  -0.232523   0.708313   0.694574
         0          0          0          1
 0.912938 -0.386032 -0.132375  0.170435
 0.365946  0.630806  0.684228   -0.1291
-0.180631   -0.6731  0.717154   0.90486
        0         0         0         1
 0.878042  0.465671 -0.110425 -0.128671
-0.254938  0.650376  0.715554 -0.138189
 0.405031 -0.600135  0.689774  0.853153
        0         0         0         1
