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FastRobustICP / data /lighter /result6 /result_0_20.txt

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	-0.779814 -0.0123043 0.625891 18.7571
	0.00873406 0.999496 0.0305309 -61.9278
	-0.625951 0.029275 -0.779313 44.9447
	0 0 0 1