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FastRobustICP / data /lighter /result6 /result_100_1.txt

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	0.554263 -0.0623071 -0.830007 -67.0422
	0.107339 0.994218 -0.00295525 43.0659
	0.825392 -0.0874541 0.557746 407.843
	0 0 0 1