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FastRobustICP / data /lighter /result3 /result_0_1.txt

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	0.922704 -0.340037 -0.181641 -78.1619
	0.163836 0.772383 -0.613663 11.0734
	0.348964 0.53647 0.768391 423.862
	0 0 0 1