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FastRobustICP / data /lighter /result3 /result_0_17.txt

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	-0.246029 0.256775 0.934632 -63.7254
	0.78504 0.618353 0.0367681 40.1736
	-0.568491 0.742769 -0.353712 478.147
	0 0 0 1