3
  -0.998539   0.0540374 0.000804846   -0.155573
 -0.0458713   -0.855327    0.516054  -0.0608942
  0.0285747    0.515263    0.856556    0.989089
          0           0           0           1
  -0.885008   -0.465573 -0.00196929  -0.0264253
    0.39204   -0.747497    0.536241    0.155412
  -0.251131    0.473805    0.844063      0.8265
          0           0           0           1
 -0.450099   -0.89286  0.0145583    0.14812
  0.755318  -0.371964   0.539572 -0.0545444
 -0.476347   0.253857   0.841814   0.966735
         0          0          0          1
