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FastRobustICP / data /lightbulb /result6 /result_0_20.txt

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	0.965825 -0.0956495 0.2409 -80.5675
	-0.168956 0.472495 0.864987 133.551
	-0.19656 -0.876128 0.440187 394.799
	0 0 0 1