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FastRobustICP / data /lightbulb /result2 /result_100_10.txt

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	0.926632 -0.352524 -0.130687 -85.4744
	0.375691 0.881559 0.285849 187.817
	0.0144401 -0.313975 0.949322 409.181
	0 0 0 1