3
  0.743732  -0.668269  0.0167222 -0.0169953
  0.371376   0.433854   0.820884   0.146037
 -0.555826  -0.604307    0.57085   0.706459
         0          0          0          1
  0.998098 -0.0295588  0.0541046  0.0200041
-0.0275872   0.570692   0.820701 -0.0260739
-0.0551361  -0.820632   0.568791   0.958199
         0          0          0          1
 0.982651  0.183346 0.0279434 -0.257587
-0.115966   0.48983  0.864071 0.0557311
 0.144737  -0.85232  0.502594   0.85088
        0         0         0         1
