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FastRobustICP / data /lighter /result2 /result_0_13.txt

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	0.0965115 -0.994931 -0.0282436 -5.26144
	-0.747302 -0.0911753 0.658199 138.256
	-0.657438 -0.0424173 -0.752314 539.826
	0 0 0 1