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FastRobustICP / data /lightbulb /result6 /result_0_15.txt

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	0.603374 0.340604 0.721061 -50.4146
	0.692443 0.224728 -0.68558 113.67
	-0.395554 0.912955 -0.100253 571.908
	0 0 0 1