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FastRobustICP / data /lighter /result6 /result_0_5.txt

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	0.00671119 0.247549 0.968852 -118.698
	-0.356535 0.905791 -0.228967 28.3514
	-0.934258 -0.343893 0.0943388 556.787
	0 0 0 1