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FastRobustICP / data /lighter /result6 /result_0_21.txt

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	0.304147 -0.952384 -0.021457 27.7693
	-0.881712 -0.272907 -0.384846 180.344
	0.360665 0.135969 -0.922731 485.465
	0 0 0 1