I tried a little bit with your code.
<?xml version="1.0" standalone="no"?>
<!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 20001102//EN" "http://www.w3.org/TR/2000/CR-SVG-20001102/DTD/svg-20001102.dtd">
<body>
<div id="test">
<svg width="20cm" height="20cm" viewBox="57 -7 3 3" >
<rect x="57" y="-7" width="3" height="3" fill="none" stroke="black" stroke-width="0.01px" />
<g >
<circle cx="57.206116" cy="-6.223032" r="0.01" fill="green"></circle>
<circle cx="57.2225" cy="-6.2441702" r="0.01" fill="red"></circle>
<circle cx="57.233299" cy="-6.1833301" r="0.01" fill="blue"></circle>
</g>
</svg>
</div>
</body>
and I removed the scale and added a rectangle to see where we are.
Thats my result: