3
   0.998381 -0.00507125    0.056659     0.15738
 -0.0297552     0.80234    0.596126    0.116966
 -0.0484828   -0.596847    0.800889    0.823659
          0           0           0           1
 0.837068  0.526863  0.147416 0.0324683
  -0.5086  0.650094  0.564539 -0.114403
 0.201601 -0.547534  0.812136  0.960327
        0         0         0         1
 0.452101  0.873519  0.180472 -0.129157
-0.803177  0.310674   0.50832  0.107818
 0.387959 -0.374763  0.842046  0.846807
        0         0         0         1
