3
  -0.997887  -0.0448622   0.0469964   -0.170275
  0.0637792   -0.814321    0.576899 -0.00145531
  0.0123893    0.578678    0.815462    0.812449
          0           0           0           1
 -0.453918  -0.889893 -0.0452592  0.0884593
  0.679242  -0.378449   0.628813    0.10809
 -0.576705   0.254687   0.776238   0.713687
         0          0          0          1
  0.159614   -0.98607 -0.0468027  0.0770637
  0.703883  0.0804392   0.705747  -0.103128
  -0.69215   -0.14559   0.706917   0.916015
         0          0          0          1
