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FastRobustICP / data /lighter /result3 /result_100_10.txt

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	0.511569 0.0634319 -0.856897 -28.3496
	-0.0294827 0.99798 0.0562743 46.9642
	0.858736 -0.00352451 0.512406 393.326
	0 0 0 1