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FastRobustICP / data /lightbulb /result6 /result_0_21.txt

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	0.0256915 -0.916154 -0.400002 -156.912
	-0.572221 0.31462 -0.757349 144.433
	0.819697 0.248347 -0.51616 479.541
	0 0 0 1