Estimated affine matrix: 
1.0000000000 4.0000000000 7.0000000000
2.0000000000 5.0000000000 8.0000000000
3.0000000000 6.0000000000 9.0000000000

Estimated affine offset: 
[10.0000000000, 11.0000000000, 12.0000000000]
RMS error: 
[0.0000000000, 0.0000000000, 0.0000000000]
Relative residual: 
[0.0000000000, 0.0000000000, 0.0000000000]
