3
 -0.578471   0.806764   0.120429 -0.0419904
  0.565959   0.503282  -0.652991   0.045343
  -0.58742  -0.309579   -0.74773   0.868372
         0          0          0          1
-0.0188761   0.998789 -0.0454443   0.264277
  0.578472 -0.0261624  -0.815282  0.0571139
 -0.815484 -0.0416776  -0.577278   0.823729
         0          0          0          1
 0.422816  0.904244 0.0597478  0.130425
 0.570726 -0.214493 -0.792631 -0.113827
-0.703916  0.369237 -0.606767     1.038
        0         0         0         1
