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FastRobustICP / data /lightbulb /result3 /result_0_5.txt

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	0.900507 -0.224874 -0.37218 -55.2268
	0.403937 0.749493 0.524496 194.594
	0.161001 -0.62265 0.765759 384.457
	0 0 0 1