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FastRobustICP / data /lightbulb /result2 /result_0_15.txt

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	0.934656 0.321134 -0.152613 -52.612
	-0.218396 0.17982 -0.95915 108.596
	-0.280573 0.929805 0.238204 570.929
	0 0 0 1