3
   0.999492 -0.00894476   0.0305978    0.170937
  -0.013478    0.751251     0.65988    0.126036
 -0.0288891   -0.659957    0.750748    0.819761
          0           0           0           1
  0.829939   0.548738   0.100436   0.040917
 -0.473976   0.598683   0.645697 -0.0948906
   0.29419  -0.583494   0.756959   0.970962
         0          0          0          1
 0.426353  0.891058  0.155686 -0.116184
-0.770511   0.26759   0.57854  0.113384
 0.473853  -0.36662  0.800658  0.835331
        0         0         0         1
