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FastRobustICP / data /lighter /result2 /result_100_12.txt

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	0.263129 0.832664 -0.487272 -78.4092
	-0.879753 -0.000211461 -0.475431 166.748
	-0.395978 0.553779 0.732483 406.456
	0 0 0 1