3
  -0.997252   0.0721883   0.0166262   -0.185346
  0.0487537    0.808567   -0.586381 -0.00336358
 -0.0557733    -0.58396   -0.809865    0.742834
          0           0           0           1
-0.455691  0.889395 0.0363578  0.075711
 0.684118  0.376062 -0.624948  0.105332
-0.569499  -0.25991 -0.779819  0.648092
        0         0         0         1
0.00202103   0.984578   0.174936   0.055838
   0.71972   0.120019  -0.683811  -0.113885
 -0.694261   0.127287  -0.708378   0.851304
         0          0          0          1
