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FastRobustICP / data /lighter /result6 /result_100_12.txt

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	0.226003 0.860844 -0.455928 -90.4529
	-0.883456 -0.0160539 -0.468239 170.206
	-0.4104 0.508616 0.75689 402.289
	0 0 0 1