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FastRobustICP / data /lightbulb /result0 /result_0_20.txt

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	0.905616 0.0460904 0.421586 -61.2954
	-0.386234 0.500215 0.774989 135.081
	-0.175164 -0.864674 0.470804 392.86
	0 0 0 1