3
  -0.82456   -0.56426 -0.0413809  -0.180227
  0.456373  -0.706566   0.540822 -0.0820191
 -0.334402   0.427055   0.840119   0.790779
         0          0          0          1
  -0.39469  -0.917495 -0.0492178   0.090235
  0.733017  -0.346723   0.585209   0.015372
 -0.553991   0.194899   0.809388   0.709265
         0          0          0          1
0.00144575  -0.992432  -0.122788  0.0496211
  0.734667 -0.0822488   0.673424  -0.206294
 -0.678426 -0.0911823   0.728988   0.894778
         0          0          0          1
