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FastRobustICP / data /lighter /result3 /result_0_4.txt

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	0.333152 -0.113576 0.936008 -110.995
	-0.841211 0.412591 0.349475 57.7947
	-0.42588 -0.903808 0.0419136 582.037
	0 0 0 1