3
  -0.16952  -0.982409   0.078328 0.00325872
 -0.742768  0.0751224  -0.665322  -0.113561
  0.647734  -0.170965  -0.742436   0.856914
         0          0          0          1
 -0.682108  -0.729416  0.0517863  -0.231843
 -0.587757   0.504748  -0.632275 0.00515967
  0.435052  -0.461718  -0.773012   0.706501
         0          0          0          1
-0.962687 -0.256934 0.0849592 0.0505434
-0.253251  0.744714 -0.617467 0.0995837
0.0953777 -0.615943 -0.781995  0.662053
        0         0         0         1
