diff --git a/collada/header.py b/collada/header.py
index aabaa49..3d0ddbb 100644
--- a/collada/header.py
+++ b/collada/header.py
@@ -61,7 +61,11 @@ class State:
     # effect_textures_by_texcoord: (effect_id, channel): [sampler_sid]
     effect_textures_by_texcoord: Dict[Tuple[str, str], list]
 
-    def __init__(self):
+    # input_filename
+    input_filename: str
+    relative_path: bool
+
+    def __init__(self, input_filename):
         self.vertex_buffer = BytesIO()
         self.index_buffer = BytesIO()
         self.joints_weights_vertex_buffer = BytesIO()
@@ -76,6 +80,8 @@ class State:
         self.image_indices = {}
         self.resource_names = {}
         self.effect_textures_by_texcoord = defaultdict(list)
+        self.input_filename = input_filename
+        self.relative_path = False
 
 def _sanitize(name):
     return name.replace(' ', '_').replace('-', '_').replace('.', '_').replace('/', '_')
@@ -228,7 +234,7 @@ def render_node_transforms(state, collada, node_name, transformation_elements):
             yield "},"
         elif type(transform) is types.Matrix:
             yield ".type = transform_type::MATRIX,"
-            yield f".matrix = {render_float_tuple(matrix_transpose(transform.matrix))},"
+            yield f".matrix = {render_float_tuple(matrix_transpose(transform.values))},"
         elif type(transform) is types.Rotate:
             yield ".type = transform_type::ROTATE,"
             yield f".rotate = {render_float_tuple(transform.rotate)},"
@@ -507,7 +513,7 @@ def render_library_visual_scenes(state, collada):
     for node_index, node in enumerate(state.linearized_nodes):
         node_name_id = get_node_name_id(node)
         node_name = sanitize_name(state, node_name_id, node)
-        yield f"&node_{node_name},"
+        yield f"&node_{node_name}, // {node_index}"
     yield "};"
 
 def render_header(namespace):
@@ -852,9 +858,11 @@ def render_library_lights(state, collada):
 
 def image_resource_name(state, uri):
     uri = unquote(uri)
-    prefix = "file:///"
-    assert uri.startswith(prefix), uri
-    path = uri[len(prefix):]
+    file_prefix = "file:///"
+    path = uri[len(file_prefix):] if uri.startswith(file_prefix) else uri
+    if not os.path.isabs(path) and not os.path.exists(path):
+        path = os.path.join(os.path.dirname(state.input_filename), path)
+        state.relative_path = True
     assert os.path.exists(path), path
     image_extensions = {".png", ".jpg", ".bmp", ".jpeg", ".tiff"}
     assert os.path.splitext(path)[1].lower() in image_extensions, path
@@ -959,14 +967,38 @@ def render_controller(state, collada, controller):
     yield "};"
 
 def render_library_controllers(state, collada):
-    for library_controller in collada.library_controllers:
-        for controller in library_controller.controllers:
+    for library_controllers in collada.library_controllers:
+        for controller in library_controllers.controllers:
             yield from render_controller(state, collada, controller)
 
-def render_all(collada, namespace):
-    state = State()
+def render_camera(state, collada, camera):
+    camera_name = sanitize_name(state, camera.id, camera)
+    perspective = camera.optics.technique_common.projection_type
+    assert type(perspective) is types.Perspective
+    def nf(f):
+        if f is None:
+            return float(0)
+        else:
+            return f
+
+    yield f"camera const camera_{camera_name} = {{"
+    yield f".xfov = {nf(perspective.xfov)}f,"
+    yield f".yfov = {nf(perspective.yfov)}f,"
+    yield f".znear = {nf(perspective.znear)}f,"
+    yield f".zfar = {nf(perspective.zfar)}f,"
+    yield f".aspect_ratio = {nf(perspective.aspect_ratio)}f,"
+    yield "};"
+
+def render_library_cameras(state, collada):
+    for library_cameras in collada.library_cameras:
+        for camera in library_cameras.cameras:
+            yield from render_camera(state, collada, camera)
+
+def render_all(collada, namespace, input_filename):
+    state = State(input_filename)
     render, out = renderer()
     render(render_header(namespace))
+    render(render_library_cameras(state, collada))
     render(render_library_lights(state, collada))
     render(render_library_animations(state, collada))
     render(render_library_images(state, collada))
@@ -996,5 +1028,5 @@ if __name__ == "__main__":
     import sys
     collada = parse.parse_collada_file(sys.argv[1])
 
-    state, out = render_all(collada, "test")
+    state, out = render_all(collada, "test", "./test.DAE")
     print(out.getvalue())
diff --git a/collada/main.py b/collada/main.py
index f2fcdfe..efca245 100644
--- a/collada/main.py
+++ b/collada/main.py
@@ -65,7 +65,7 @@ def main():
 
     collada = parse.parse_collada_file(input_collada)
     namespace = parse_namespace(input_collada)
-    state, out_source = header.render_all(collada, namespace)
+    state, out_source = header.render_all(collada, namespace, input_collada)
 
     with open(output_source, 'wb') as f:
         source_buf = out_source.getvalue()
diff --git a/collada/parse.py b/collada/parse.py
index e3b70c6..2564e55 100644
--- a/collada/parse.py
+++ b/collada/parse.py
@@ -649,12 +649,7 @@ def parse_matrix(lookup, sid_lookup, root):
     values = [float(i) for i in root.text.strip().split()]
     assert len(values) == 16
 
-    r0 = tuple(values[0:4])
-    r1 = tuple(values[4:8])
-    r2 = tuple(values[8:12])
-    r3 = tuple(values[12:16])
-
-    matrix = types.Matrix(sid, tuple([r0, r1, r2, r3]))
+    matrix = types.Matrix(sid, values)
     lookup_add(sid_lookup, sid, matrix)
     return matrix
 
@@ -1022,6 +1017,85 @@ def parse_library_controllers(lookup, root):
     lookup_add(lookup, id, library_controllers)
     return library_controllers
 
+def parse_perspective(lookup, root):
+    xfov = None
+    yfov = None
+    znear = None
+    zfar = None
+    aspect_ratio = None
+    for child in root.getchildren():
+        assert len(child.getchildren()) == 0
+        if child.tag == tag("xfov"):
+            assert xfov is None
+            xfov = float(child.text.strip())
+        if child.tag == tag("yfov"):
+            assert yfov is None
+            yfov = float(child.text.strip())
+        if child.tag == tag("znear"):
+            assert znear is None
+            znear = float(child.text.strip())
+        if child.tag == tag("zfar"):
+            assert zfar is None
+            zfar = float(child.text.strip())
+        if child.tag == tag("aspect_ratio"):
+            assert aspect_ratio is None
+            aspect_ratio = float(child.text.strip())
+    perspective = types.Perspective(xfov, yfov, znear, zfar, aspect_ratio)
+    return perspective
+
+def parse_technique_common_optics(lookup, root):
+    projection_type = None
+    for child in root.getchildren():
+        if child.tag == tag("perspective"):
+            assert projection_type is None
+            projection_type = parse_perspective(lookup, child)
+        if child.tag == tag("orthographic"):
+            assert projection_type is None
+            assert False, child.tag
+    assert projection_type is not None
+    optics = types.TechniqueCommon_Optics(projection_type)
+    return optics
+
+def parse_optics(lookup, root):
+    technique_common = None
+    for child in root.getchildren():
+        if child.tag == tag("technique_common"):
+            assert technique_common is None
+            technique_common = parse_technique_common_optics(lookup, child)
+    assert technique_common is not None
+    optics = types.Optics(technique_common)
+    return optics
+
+def parse_camera(lookup, root):
+    id = root.attrib.get("id")
+    name = root.attrib.get("name")
+
+    optics = None
+    for child in root.getchildren():
+        if child.tag == tag("optics"):
+            assert optics is None
+            optics = parse_optics(lookup, child)
+
+    assert optics is not None
+    camera = types.Camera(id, name, optics)
+    lookup_add(lookup, id, camera)
+    return camera
+
+def parse_library_cameras(lookup, root):
+    id = root.attrib.get("id")
+    name = root.attrib.get("name")
+
+    cameras = []
+    for child in root.getchildren():
+        if child.tag == tag("camera"):
+            cameras.append(parse_camera(lookup, child))
+
+    assert len(cameras) >= 1
+
+    library_cameras = types.LibraryCameras(id, name, cameras)
+    lookup_add(lookup, id, library_cameras)
+    return library_cameras
+
 def parse_collada(tree):
     root = tree.getroot()
     assert root.tag == tag("COLLADA")
@@ -1030,6 +1104,8 @@ def parse_collada(tree):
     lookup = {}
 
     for child in root.getchildren():
+        if child.tag == tag("library_cameras"):
+            collada.library_cameras.append(parse_library_cameras(lookup, child))
         if child.tag == tag("library_animations"):
             collada.library_animations.append(parse_library_animations(lookup, child))
         if child.tag == tag("library_controllers"):
diff --git a/collada/types.py b/collada/types.py
index d53d9b4..bf5216d 100644
--- a/collada/types.py
+++ b/collada/types.py
@@ -519,8 +519,39 @@ class LibraryAnimations:
 
     animations: List[Animation] # 1 or more
 
+@dataclass(frozen=True)
+class Perspective:
+    xfov: float
+    yfov: float
+    znear: float
+    zfar: float
+    aspect_ratio: float
+
+@dataclass(frozen=True)
+class TechniqueCommon_Optics:
+    projection_type: Union[Perspective]
+
+@dataclass(frozen=True)
+class Optics:
+    technique_common: TechniqueCommon_Optics
+
+@dataclass(frozen=True)
+class Camera:
+    id: Optional[ID]
+    name: Optional[str]
+
+    optics: Optics
+
+@dataclass(frozen=True)
+class LibraryCameras:
+    id: Optional[ID]
+    name: Optional[str]
+
+    cameras: List[Camera] # 1 or more
+
 @dataclass
 class Collada:
+    library_cameras: List[LibraryCameras]
     library_animations: List[LibraryAnimations]
     library_controllers: List[LibraryControllers]
     library_effects: List[LibraryEffects]
@@ -533,6 +564,7 @@ class Collada:
     _lookup: dict = field(repr=False)
 
     def __init__(self):
+        self.library_cameras = []
         self.library_animations = []
         self.library_controllers = []
         self.library_effects = []
diff --git a/include/collada_types.hpp b/include/collada_types.hpp
index 85db681..20f1c2f 100644
--- a/include/collada_types.hpp
+++ b/include/collada_types.hpp
@@ -349,6 +349,14 @@ namespace collada {
   };
   */
 
+  struct camera {
+    float xfov;
+    float yfov;
+    float znear;
+    float zfar;
+    float aspect_ratio;
+  };
+
   //////////////////////////////////////////////////////////////////////
   // scene
   //////////////////////////////////////////////////////////////////////
diff --git a/src/scenes/curve_interpolation/curve_interpolation.cpp b/src/scenes/curve_interpolation/curve_interpolation.cpp
index 957950c..351be58 100644
--- a/src/scenes/curve_interpolation/curve_interpolation.cpp
+++ b/src/scenes/curve_interpolation/curve_interpolation.cpp
@@ -543,15 +543,15 @@ float const array_node_bone002_rotationz_angle_input_array[] = {
 };
 
 float const array_node_bone002_rotationz_angle_output_array[] = {
-  180.0f + 180.0f,
-  230.0f + 180.0f,
-  180.0f + 180.0f,
-  130.0f + 180.0f,
-  180.0f + 180.0f,
-  230.0f + 180.0f,
-  180.0f + 180.0f,
-  130.0f + 180.0f,
-  180.0f + 180.0f,
+  180.0f,
+  230.0f,
+  180.0f,
+  130.0f,
+  180.0f,
+  230.0f,
+  180.0f,
+  130.0f,
+  180.0f,
 };
 
 float const array_node_bone002_rotationz_angle_intangent_array[] = {
@@ -1660,6 +1660,15 @@ instance_material const instance_geometry_instance_materials_node_cube_0[] = {
     .diffuse = { .input_set = -1 },
     .specular = { .input_set = -1 },
   },
+  {
+    .element_index = 5, // an index into mesh.triangles
+    .material = &material_material__17_material,
+
+    .emission = { .input_set = -1 },
+    .ambient = { .input_set = -1 },
+    .diffuse = { .input_set = -1 },
+    .specular = { .input_set = -1 },
+  },
   {
     .element_index = 0, // an index into mesh.triangles
     .material = &material_material__16_material,
@@ -1678,15 +1687,6 @@ instance_material const instance_geometry_instance_materials_node_cube_0[] = {
     .diffuse = { .input_set = -1 },
     .specular = { .input_set = -1 },
   },
-  {
-    .element_index = 5, // an index into mesh.triangles
-    .material = &material_material__17_material,
-
-    .emission = { .input_set = -1 },
-    .ambient = { .input_set = -1 },
-    .diffuse = { .input_set = -1 },
-    .specular = { .input_set = -1 },
-  },
   {
     .element_index = 2, // an index into mesh.triangles
     .material = &material_material__19_material,
@@ -2044,8 +2044,8 @@ instance_light const instance_lights_node_light[] = {
 };
 
 channel const * const node_channels_node_light[] = {
-  &node_channel_node_light_translation_y,
   &node_channel_node_light_translation_x,
+  &node_channel_node_light_translation_y,
 };
 
 node const node_node_light = {
@@ -2139,15 +2139,6 @@ int const joint_node_indices_node_box001_geom_box001_skin1[] = {
 };
 
 instance_material const instance_controller_instance_materials_node_box001_0[] = {
-  {
-    .element_index = 0, // an index into mesh.triangles
-    .material = &material_material__14_material,
-
-    .emission = { .input_set = -1 },
-    .ambient = { .input_set = -1 },
-    .diffuse = { .input_set = -1 },
-    .specular = { .input_set = -1 },
-  },
   {
     .element_index = 1, // an index into mesh.triangles
     .material = &material_material__13_material,
@@ -2166,6 +2157,15 @@ instance_material const instance_controller_instance_materials_node_box001_0[] =
     .diffuse = { .input_set = -1 },
     .specular = { .input_set = -1 },
   },
+  {
+    .element_index = 0, // an index into mesh.triangles
+    .material = &material_material__14_material,
+
+    .emission = { .input_set = -1 },
+    .ambient = { .input_set = -1 },
+    .diffuse = { .input_set = -1 },
+    .specular = { .input_set = -1 },
+  },
   {
     .element_index = 3, // an index into mesh.triangles
     .material = &material_material__16_1_material,
@@ -2328,17 +2328,17 @@ node const node_node_bone002 = {
 };
 
 node const * const nodes[] = {
-  &node_node_environmentambientlight,
-  &node_node_cube,
-  &node_node_torus,
-  &node_node_cylinder,
-  &node_node_plane,
-  &node_node_geosphere,
-  &node_node_light,
-  &node_node_lightindicator,
-  &node_node_box001,
-  &node_node_bone001,
-  &node_node_bone002,
+  &node_node_environmentambientlight, // 0
+  &node_node_cube, // 1
+  &node_node_torus, // 2
+  &node_node_cylinder, // 3
+  &node_node_plane, // 4
+  &node_node_geosphere, // 5
+  &node_node_light, // 6
+  &node_node_lightindicator, // 7
+  &node_node_box001, // 8
+  &node_node_bone001, // 9
+  &node_node_bone002, // 10
 };
 
 inputs const inputs_list[] = {