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FastRobustICP / data /lighter /result0 /result_0_5.txt

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	0.0906208 0.300379 0.949505 -120.102
	-0.422489 0.874975 -0.236479 46.003
	-0.901827 -0.379725 0.206198 549.246
	0 0 0 1