        ICPwithSpatialIndex(dkMat, ad.mesh.vertices, ad.mesh.vertexTriangleNeighborIndex,tc,Freg,skMat,ckMat,errork,debug);
    }
    

    std::vector<Eigen::Vector3d> sk(splitVectors(skMat));
    std::vector<Eigen::Vector3d> ck(splitVectors(ckMat));
	
    std::string outputFilename =  dataFilenamePrefix + "-Output.txt";
    std::ofstream ofs (outputFilename, std::ofstream::out);
    output1CISCSV_PA3(ofs,outputFilename,sk,ck,errork);
    
    ofs.close();
    
}