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FastRobustICP / data /lighter /result6 /result_0_15.txt

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	0.209173 0.977859 -0.0062513 -103.664
	-0.361786 0.0714472 -0.929519 153.705
	-0.908492 0.196692 0.368721 514.696
	0 0 0 1