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FastRobustICP / data /lighter /result6 /result_0_19.txt

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	0.503596 -0.785574 -0.359534 9.17804
	0.84597 0.363958 0.389704 49.9609
	-0.175286 -0.500408 0.84786 513.423
	0 0 0 1