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FastRobustICP / data /lightbulb /result6 /result_0_13.txt

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	0.576163 0.00145789 0.817333 -44.5779
	-0.717814 0.479126 0.505155 131.866
	-0.390869 -0.877745 0.277101 403.176
	0 0 0 1