3
  -0.641002   -0.767538 -0.00140073   -0.150349
  -0.616194    0.515695   -0.595284     -0.1689
   0.457625   -0.380715   -0.803514    0.845004
          0           0           0           1
 -0.803497  -0.595246 0.00870188  -0.157952
 -0.472356   0.628581  -0.617871  0.0590724
  0.362315  -0.500568  -0.786231   0.652238
         0          0          0          1
 -0.996332 -0.0851221 0.00872439    0.10703
-0.0723865   0.784087  -0.616414 -0.0547576
 0.0456298  -0.614785  -0.787373   0.752724
         0          0          0          1
