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FastRobustICP / data /lighter /result2 /result_0_19.txt

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	0.103948 -0.797982 0.593649 -9.84727
	-0.658689 0.391985 0.642243 113.908
	-0.7452 -0.45779 -0.484876 561.179
	0 0 0 1