0.3984718 -0.9171806 0.0 5276.2314
0.15927708 0.0691984 0.98480576 -2879.9077
0.90324473 0.39241734 -0.17365946 -2151.6353
0.0 0.0 0.0 1.0
337.7598 157.5 125.5