a b/volumes/reg.mat 

  1
  
0.9809896201  -0.01801470286  0.02541981711  -10.48568006  





  
  

  2
  
0.01783929155  0.8860436006  0.1601245666  -17.75581899  





  
  

  3
  
-0.0200112744  -0.1756906997  0.9749628863  -24.22906089  





  
  

  4
  
0  0  0  1