3
 -0.578471  -0.806764  -0.120429 -0.0516172
  0.565959  -0.503282   0.652991   0.119846
  -0.58742   0.309579    0.74773   0.949987
         0          0          0          1
-0.0188761  -0.998789  0.0454442   0.273777
  0.578472  0.0261623   0.815282   0.147238
 -0.815484  0.0416775   0.577278   0.887695
         0          0          0          1
  0.422816  -0.904244 -0.0597479   0.127754
  0.570726   0.214493   0.792631 -0.0270517
 -0.703916  -0.369237   0.606767    1.10704
         0          0          0          1
