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FastRobustICP / data /lighter /result6 /result_0_17.txt

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	0.0754236 -0.969616 0.232716 9.52316
	0.747016 -0.0996481 -0.657295 107.625
	0.660514 0.223418 0.716803 437.355
	0 0 0 1