3
  0.993105  0.0650208  0.0975434    0.18236
 -0.110767   0.792899     0.5992   0.134417
-0.0383816  -0.605873   0.794634   0.847335
         0          0          0          1
  0.796183   0.584786   0.155299  0.0292754
 -0.556958   0.608052   0.565747 -0.0842868
  0.236411  -0.536934   0.809822    0.98385
         0          0          0          1
 0.364873  0.908691  0.202852  -0.10652
-0.832976  0.221258  0.507146  0.148411
 0.415956 -0.354014  0.837648  0.861921
        0         0         0         1
