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FastRobustICP / data /lighter /result6 /result_0_13.txt

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	0.0756191 0.894712 0.440196 -105.175
	0.995723 -0.0442572 -0.0810963 79.8452
	-0.0530759 0.444446 -0.894232 489.826
	0 0 0 1