3
   0.999715  -0.0126687   0.0202596    0.168891
-0.00344751    0.762533    0.646941    0.117365
 -0.0236445   -0.646826    0.762271     0.82156
          0           0           0           1
 0.839389  0.533478  0.104055  0.043083
-0.471576  0.619605  0.627459 -0.105532
 0.270262 -0.575752  0.771666  0.970128
        0         0         0         1
 0.423106  0.893839  0.148436 -0.117634
-0.776514  0.273286  0.567751  0.103046
 0.466912 -0.355482  0.809708  0.834992
        0         0         0         1
