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FastRobustICP / data /lightbulb /result2 /result_0_5.txt

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	0.996186 -0.069719 -0.0524718 -41.2314
	0.0857081 0.668958 0.738342 177.081
	-0.0163751 -0.740023 0.672382 353.14
	0 0 0 1