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FastRobustICP / data /lighter /result3 /result_0_12.txt

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	-0.975499 0.0445013 -0.215456 -6.15929
	0.152433 -0.569446 -0.807772 169.76
	-0.158637 -0.820824 0.54871 533.405
	0 0 0 1