3
  0.839104  -0.540762 -0.0590139   0.150719
  0.463097   0.653217    0.59904   0.186779
 -0.285389  -0.529986   0.798541    0.74515
         0          0          0          1
  0.997975 -0.0425272 -0.0472916  0.0580862
 0.0618359   0.822747   0.565034  -0.062795
 0.0148796  -0.566814   0.823711   0.906031
         0          0          0          1
  0.812717   0.581179 -0.0414999  -0.147845
 -0.449569   0.670793   0.589852    0.11753
  0.370648  -0.460725   0.806444   0.771209
         0          0          0          1
