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FastRobustICP / data /lighter /result6 /result_0_16.txt

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	0.0799301 0.982052 0.170838 -96.6373
	-0.855927 -0.0202208 0.5167 143.635
	0.510881 -0.187525 0.838949 463.791
	0 0 0 1