tform
probability 0.9000
matrix_3d 0.886952 -0.234731 0.201036 0.224560 0.909253 0.070912 -0.212336 -0.018900 0.914742
translate -1.10444665 1.43138981 -0.85517305

tform
probability 0.1000
matrix_3d -0.211595 0.263812 0.564404 -0.554369 -0.351724 -0.043431 0.284295 -0.489504 0.335384
translate -0.15734777 -0.35258806 0.31768432