After VRP translation
| 1.000 0.000 0.000 -3.000 |
| 0.000 1.000 0.000 -2.000 |
| 0.000 0.000 1.000 2.000 |
| 0.000 0.000 0.000 1.000 |

View reference axes
[ 0.555 -0.000 0.832 0.000 ] 
[ -0.404 0.874 0.269 0.000 ] 
[ -0.728 -0.485 0.485 0.000 ] 

After Rxyz
| 0.555 0.000 0.832 0.000 |
| -0.404 0.874 0.269 -0.000 |
| -0.728 -0.485 0.485 4.123 |
| 0.000 0.000 0.000 1.000 |

After translating COP to origin
| 0.555 0.000 0.832 0.000 |
| -0.404 0.874 0.269 -0.000 |
| -0.728 -0.485 0.485 5.123 |
| 0.000 0.000 0.000 1.000 |

After scaling to CVV
| 0.111 0.000 0.166 0.000 |
| -0.144 0.311 0.096 -0.000 |
| -0.146 -0.097 0.097 1.025 |
| 0.000 0.000 0.000 1.000 |

After perspective
| 0.111 0.000 0.166 0.000 |
| -0.144 0.311 0.096 -0.000 |
| -0.146 -0.097 0.097 1.025 |
| -0.728 -0.485 0.485 5.123 |

After scale to image coords
| -88.752 0.000 -133.128 -0.000 |
| 64.577 -139.916 -43.051 0.000 |
| -0.146 -0.097 0.097 1.025 |
| -0.728 -0.485 0.485 5.123 |

After final translation to image coords
| -205.169 -77.611 -55.517 819.697 |
| -0.908 -183.572 0.605 461.080 |
| -0.146 -0.097 0.097 1.025 |
| -0.728 -0.485 0.485 5.123 |

Drawing Polygons
Polygon: 4 vertices
  ( 197.924, 110.235, 1.170 )
  ( 170.096, 146.318, 0.879 )
  ( 172.955, 80.574, 0.685 )
  ( 205.462, 56.922, 0.976 )
Polygon: 4 vertices
  ( 153.494, 94.734, 1.364 )
  ( 118.648, 120.088, 1.073 )
  ( 109.521, 63.066, 0.879 )
  ( 152.415, 47.690, 1.170 )
Polygon: 4 vertices
  ( 172.955, 80.574, 0.685 )
  ( 205.462, 56.922, 0.976 )
  ( 152.415, 47.690, 1.170 )
  ( 109.521, 63.066, 0.879 )
Polygon: 4 vertices
  ( 197.924, 110.235, 1.170 )
  ( 170.096, 146.318, 0.879 )
  ( 118.648, 120.088, 1.073 )
  ( 153.494, 94.734, 1.364 )
Polygon: 4 vertices
  ( 197.924, 110.235, 1.170 )
  ( 205.462, 56.922, 0.976 )
  ( 152.415, 47.690, 1.170 )
  ( 153.494, 94.734, 1.364 )
Polygon: 4 vertices
  ( 170.096, 146.318, 0.879 )
  ( 172.955, 80.574, 0.685 )
  ( 109.521, 63.066, 0.879 )
  ( 118.648, 120.088, 1.073 )
Writing image