
Bias+Rotation matrice :
-243.968508 , 200.001797 , -154.937456 ,
0.780103 , -0.00196 , 0.000562 ,
-0.001355 , 0.514351 , -0.000358 ,
0.000811 , -0.001659 , 1.945073 ,

Total samples :1000.
In use samples: 810.
(Removed noise : 19 %.)