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Bug #19938

Track stitching in PMA

Added by Tingjun Yang about 1 year ago. Updated about 1 year ago.

Status:
New
Priority:
Normal
Assignee:
-
Start date:
05/13/2018
Due date:
% Done:

0%

Estimated time:
Duration:

Description

While studying some 35t events, I noticed something strange in the stitching algorithm in PMA.
Here is a reconstructed 35t data event if we turn off stitching between TPCs:

This is the same event after we turn on stitching between TPCs:

For the stitched track (id=1), I printed out the trajectory point index, x, y, z, dirx, diry, dirz. Near the track end:

idx    x       y       z      dirx     diry       dirz
207 278.684 5.14975 64.0385 0.131731 -0.458616 -0.878816
208 278.755 4.90352 63.5667 0.131731 -0.458616 -0.878816
209 278.821 4.67555 63.1298 0.131731 -0.458616 -0.878816
210 278.89 4.43304 62.6651 0.131731 -0.458616 -0.878816
211 278.922 4.32126 62.4509 0.131731 -0.458616 -0.878816
212 278.959 4.1947 62.2084 0.131731 -0.458616 -0.878816
213 279.042 3.90549 61.6542 0.131731 -0.458616 -0.878816
214 279.101 3.69823 61.2571 -0.998855 -0.0132353 -0.0459829
215 279.101 3.69823 61.2571 -0.998855 -0.0132353 -0.0459829
216 279.101 3.69823 61.2571 -0.998855 -0.0132353 -0.0459829
217 279.101 3.69823 61.2571 -0.998855 -0.0132353 -0.0459829
218 279.101 3.69823 61.2571 -0.998855 -0.0132353 -0.0459829
219 279.101 3.69823 61.2571 -0.998855 -0.0132353 -0.0459829
220 279.101 3.69823 61.2571 -0.998855 -0.0132353 -0.0459829
221 279.101 3.69823 61.2571 -0.998855 -0.0132353 -0.0459829
222 279.101 3.69823 61.2571 -0.998855 -0.0132353 -0.0459829
223 279.101 3.69823 61.2571 -0.998855 -0.0132353 -0.0459829
224 279.101 3.69823 61.2571 -0.998855 -0.0132353 -0.0459829
225 279.101 3.69823 61.2571 -0.998855 -0.0132353 -0.0459829
226 279.101 3.69823 61.2571 -0.998855 -0.0132353 -0.0459829

The last few points are identical and the directions are also wrong.

The unstitched track does not have this problem:

idx    x       y       z      dirx     diry       dirz
117 279.743 1.57914 57.1783 0.138155 -0.456614 -0.878873
118 279.843 1.24839 56.5417 0.138155 -0.456614 -0.878873
119 280.026 0.643324 55.3771 0.138155 -0.456614 -0.878873
120 280.079 0.466347 55.0365 0.138155 -0.456614 -0.878873
121 280.169 0.168602 54.4634 0.138155 -0.456614 -0.878873
122 280.24 -0.0649955 54.0137 0.138155 -0.456614 -0.878873
123 280.311 -0.300044 53.5613 0.138155 -0.456614 -0.878873
124 280.321 -0.332896 53.4981 0.138155 -0.456614 -0.878873

Also in the function

void pma::ProjectionMatchingAlg::mergeTracks(pma::Track3D& dst, pma::Track3D& src, bool reopt) const

if I turn off optimization (reopt=false), the problem seems to go away. So the problem seems to be related to the optimization of merged track.

Leigh, since you worked on the cathode crossing stitcher, do you have any comments? Thanks.

History

#1 Updated by Leigh Whitehead about 1 year ago

Just to confirm, is this just stitching between TPCs with the same drift direction or across the APA? It should probably happen in both cases since the underlying functions called by PMA to stitch the tracks are the same.

I believe that Christoph Alt has seen something similar in the dual phase (which doesn't need CPA / APA stitching), so I hope he can chip in with a description of what he saw and what he has managed to discover about it so far. I imagine this could therefore be an issue with the code in pma::Track3D::optimize or the deeper versions that update pma::Node3D or pma::Hit3D objects.

#2 Updated by Leigh Whitehead about 1 year ago

Do you have the full log of trajectory points for the two unstitched tracks? It'd be good to make sure that the number of trajectory points in the stitched track is consistent with the number from the two unstitched tracks.

#3 Updated by Tingjun Yang about 1 year ago

Stitched track, track id 1

idx    x       y       z      dirx     diry       dirz
0 264.133 52.5319 154.561 0.149783 -0.450637 -0.880052
1 264.343 51.9023 153.331 0.149783 -0.450637 -0.880052
2 264.589 51.1608 151.883 0.149783 -0.450637 -0.880052
3 265.087 49.6642 148.961 0.149783 -0.450637 -0.880052
4 265.337 48.9096 147.487 0.149783 -0.450637 -0.880052
5 265.345 48.8879 147.445 0.149783 -0.450637 -0.880052
6 265.423 48.6514 146.983 0.149783 -0.450637 -0.880052
7 265.597 48.128 145.96 0.149783 -0.450637 -0.880052
8 265.664 47.9276 145.569 0.149783 -0.450637 -0.880052
9 265.906 47.1988 144.146 0.149783 -0.450637 -0.880052
10 265.98 46.9764 143.712 0.149783 -0.450637 -0.880052
11 265.988 46.9523 143.665 0.149783 -0.450637 -0.880052
12 266.066 46.7188 143.209 0.149783 -0.450637 -0.880052
13 266.08 46.6746 143.122 0.149783 -0.450637 -0.880052
14 266.143 46.4866 142.755 0.149783 -0.450637 -0.880052
15 266.3 46.0149 141.834 0.149783 -0.450637 -0.880052
16 266.337 45.9032 141.616 0.149783 -0.450637 -0.880052
17 266.372 45.7981 141.411 0.149783 -0.450637 -0.880052
18 266.447 45.5709 140.967 0.149783 -0.450637 -0.880052
19 266.521 45.3486 140.533 0.149783 -0.450637 -0.880052
20 266.587 45.1374 140.13 0.142931 -0.460791 -0.875924
21 266.593 45.1182 140.093 0.142931 -0.460791 -0.875924
22 266.814 44.407 138.741 0.142931 -0.460791 -0.875924
23 266.843 44.3124 138.561 0.142931 -0.460791 -0.875924
24 266.888 44.167 138.285 0.142931 -0.460791 -0.875924
25 267.036 43.6903 137.379 0.142931 -0.460791 -0.875924
26 267.094 43.5037 137.024 0.142931 -0.460791 -0.875924
27 267.109 43.4558 136.933 0.142931 -0.460791 -0.875924
28 267.184 43.214 136.474 0.142931 -0.460791 -0.875924
29 267.255 42.9835 136.035 0.142931 -0.460791 -0.875924
30 267.328 42.7473 135.586 0.142931 -0.460791 -0.875924
31 267.357 42.6557 135.412 0.142931 -0.460791 -0.875924
32 267.401 42.5137 135.142 0.142931 -0.460791 -0.875924
33 267.437 42.3967 134.92 0.142931 -0.460791 -0.875924
34 267.514 42.1506 134.452 0.142931 -0.460791 -0.875924
35 267.591 41.8997 133.975 0.142931 -0.460791 -0.875924
36 267.62 41.8069 133.799 0.142931 -0.460791 -0.875924
37 267.746 41.402 133.029 0.142931 -0.460791 -0.875924
38 267.767 41.3349 132.902 0.142931 -0.460791 -0.875924
39 267.82 41.1622 132.573 0.142931 -0.460791 -0.875924
40 267.841 41.0934 132.443 0.142931 -0.460791 -0.875924
41 267.848 41.0736 132.405 0.142931 -0.460791 -0.875924
42 267.991 40.6112 131.526 0.142931 -0.460791 -0.875924
43 268.064 40.3758 131.078 0.142931 -0.460791 -0.875924
44 268.101 40.2581 130.855 0.142931 -0.460791 -0.875924
45 268.116 40.2078 130.759 0.142931 -0.460791 -0.875924
46 268.193 39.9615 130.291 0.142931 -0.460791 -0.875924
47 268.209 39.9079 130.189 0.142931 -0.460791 -0.875924
48 268.267 39.7227 129.837 0.142931 -0.460791 -0.875924
49 268.342 39.4809 129.377 0.142931 -0.460791 -0.875924
50 268.5 38.9713 128.408 0.142931 -0.460791 -0.875924
51 268.574 38.7335 127.956 0.142931 -0.460791 -0.875924
52 268.575 38.73 127.95 0.142931 -0.460791 -0.875924
53 268.648 38.4938 127.501 0.142931 -0.460791 -0.875924
54 268.721 38.2594 127.055 0.142931 -0.460791 -0.875924
55 268.722 38.2547 127.046 0.138242 -0.457774 -0.878255
56 268.792 38.023 126.602 0.138242 -0.457774 -0.878255
57 268.798 38.0026 126.563 0.138242 -0.457774 -0.878255
58 269.004 37.3198 125.253 0.138242 -0.457774 -0.878255
59 269.06 37.1363 124.901 0.138242 -0.457774 -0.878255
60 269.077 37.0801 124.793 0.138242 -0.457774 -0.878255
61 269.217 36.6169 123.904 0.138242 -0.457774 -0.878255
62 269.287 36.3829 123.455 0.138242 -0.457774 -0.878255
63 269.289 36.3784 123.446 0.138242 -0.457774 -0.878255
64 269.354 36.1605 123.028 0.138242 -0.457774 -0.878255
65 269.376 36.0881 122.89 0.138242 -0.457774 -0.878255
66 269.447 35.8547 122.442 0.138242 -0.457774 -0.878255
67 269.498 35.6847 122.116 0.138242 -0.457774 -0.878255
68 269.52 35.6134 121.979 0.138242 -0.457774 -0.878255
69 269.52 35.6129 121.978 0.138242 -0.457774 -0.878255
70 269.57 35.4457 121.657 0.138242 -0.457774 -0.878255
71 269.775 34.768 120.357 0.138242 -0.457774 -0.878255
72 269.887 34.3963 119.644 0.138242 -0.457774 -0.878255
73 270.014 33.975 118.836 0.138242 -0.457774 -0.878255
74 270.137 33.5681 118.055 0.138242 -0.457774 -0.878255
75 270.395 32.7149 116.418 0.138242 -0.457774 -0.878255
76 270.466 32.4796 115.967 0.138242 -0.457774 -0.878255
77 270.469 32.4689 115.946 0.138242 -0.457774 -0.878255
78 270.545 32.2188 115.466 0.138242 -0.457774 -0.878255
79 270.621 31.9752 114.994 0.141775 -0.453729 -0.879789
80 270.695 31.7382 114.535 0.141775 -0.453729 -0.879789
81 270.705 31.7063 114.473 0.141775 -0.453729 -0.879789
82 270.765 31.5119 114.096 0.141775 -0.453729 -0.879789
83 270.84 31.2743 113.635 0.141775 -0.453729 -0.879789
84 270.939 30.9555 113.017 0.141775 -0.453729 -0.879789
85 271.18 30.184 111.521 0.141775 -0.453729 -0.879789
86 271.22 30.0583 111.278 0.141775 -0.453729 -0.879789
87 271.295 29.8183 110.812 0.141775 -0.453729 -0.879789
88 271.37 29.5767 110.344 0.141775 -0.453729 -0.879789
89 271.428 29.3929 109.987 0.141775 -0.453729 -0.879789
90 271.428 29.3905 109.983 0.141775 -0.453729 -0.879789
91 271.513 29.1195 109.457 0.141775 -0.453729 -0.879789
92 271.572 28.9308 109.091 0.141775 -0.453729 -0.879789
93 271.588 28.8789 108.991 0.141775 -0.453729 -0.879789
94 271.663 28.6383 108.524 0.141775 -0.453729 -0.879789
95 271.669 28.619 108.487 0.141775 -0.453729 -0.879789
96 271.717 28.4678 108.194 0.141775 -0.453729 -0.879789
97 271.968 27.664 106.635 0.141775 -0.453729 -0.879789
98 272.043 27.4232 106.168 0.141775 -0.453729 -0.879789
99 272.114 27.1946 105.725 0.141775 -0.453729 -0.879789
100 272.19 26.9532 105.257 0.141775 -0.453729 -0.879789
101 272.266 26.7089 104.783 0.0625938 -0.61263 -0.787887
102 272.517 24.2575 101.63 0.158713 -0.405105 -0.900389
103 272.536 24.2075 101.519 0.158713 -0.405105 -0.900389
104 272.562 24.141 101.371 0.158713 -0.405105 -0.900389
105 272.595 24.0576 101.186 0.158713 -0.405105 -0.900389
106 272.641 23.9397 100.924 0.158713 -0.405105 -0.900389
107 272.675 23.8532 100.732 0.158713 -0.405105 -0.900389
108 272.691 23.813 100.642 0.158713 -0.405105 -0.900389
109 272.814 23.4995 99.9456 0.158713 -0.405105 -0.900389
110 272.894 23.2941 99.489 0.158713 -0.405105 -0.900389
111 272.91 23.2539 99.3996 0.158713 -0.405105 -0.900389
112 272.916 23.2375 99.3633 0.158713 -0.405105 -0.900389
113 273.064 22.86 98.5241 0.158713 -0.405105 -0.900389
114 273.231 22.4341 97.5776 0.158713 -0.405105 -0.900389
115 273.248 22.3914 97.4827 0.158713 -0.405105 -0.900389
116 273.31 22.2317 97.1277 0.158713 -0.405105 -0.900389
117 273.331 22.1781 97.0085 0.158713 -0.405105 -0.900389
118 273.382 22.0499 96.7236 0.158713 -0.405105 -0.900389
119 273.412 21.9732 96.5531 0.158713 -0.405105 -0.900389
120 273.469 21.8261 96.2262 0.158713 -0.405105 -0.900389
121 273.497 21.7544 96.0669 0.158713 -0.405105 -0.900389
122 273.546 21.6264 95.7918 0.161412 -0.446547 -0.880081
123 273.583 21.5264 95.5946 0.161412 -0.446547 -0.880081
124 273.634 21.3835 95.3131 0.161412 -0.446547 -0.880081
125 273.669 21.2883 95.1254 0.161412 -0.446547 -0.880081
126 273.709 21.1757 94.9035 0.161412 -0.446547 -0.880081
127 273.792 20.9469 94.4527 0.161412 -0.446547 -0.880081
128 273.874 20.7204 94.0063 0.161412 -0.446547 -0.880081
129 273.904 20.638 93.8438 0.161412 -0.446547 -0.880081
130 273.934 20.555 93.6801 0.161412 -0.446547 -0.880081
131 274.017 20.3255 93.228 0.161412 -0.446547 -0.880081
132 274.04 20.261 93.1008 0.161412 -0.446547 -0.880081
133 274.102 20.0899 92.7637 0.161412 -0.446547 -0.880081
134 274.124 20.0295 92.6446 0.161412 -0.446547 -0.880081
135 274.287 19.5761 91.751 0.161412 -0.446547 -0.880081
136 274.428 19.1866 90.9833 0.161412 -0.446547 -0.880081
137 274.536 18.8897 90.3982 0.161412 -0.446547 -0.880081
138 274.616 18.6677 89.9605 0.161412 -0.446547 -0.880081
139 274.703 18.4267 89.4856 0.161412 -0.446547 -0.880081
140 274.945 17.6373 87.9652 0.135355 -0.458184 -0.878491
141 275.397 16.1049 85.027 0.135355 -0.458184 -0.878491
142 275.421 16.0238 84.8717 0.135355 -0.458184 -0.878491
143 275.493 15.7826 84.4092 0.135355 -0.458184 -0.878491
144 275.561 15.5526 83.9681 0.135355 -0.458184 -0.878491
145 275.626 15.3323 83.5457 0.135355 -0.458184 -0.878491
146 275.676 15.1629 83.221 0.135355 -0.458184 -0.878491
147 275.703 15.0708 83.0444 0.135355 -0.458184 -0.878491
148 275.745 14.9275 82.7696 0.135355 -0.458184 -0.878491
149 275.814 14.6926 82.3201 0.130961 -0.461219 -0.877568
150 275.85 14.5656 82.0784 0.130961 -0.461219 -0.877568
151 275.881 14.4558 81.8695 0.130961 -0.461219 -0.877568
152 276.056 13.8395 80.6968 0.130961 -0.461219 -0.877568
153 276.084 13.7405 80.5084 0.130961 -0.461219 -0.877568
154 276.093 13.7088 80.4481 0.130961 -0.461219 -0.877568
155 276.125 13.5978 80.237 0.130961 -0.461219 -0.877568
156 276.19 13.3695 79.8027 0.130961 -0.461219 -0.877568
157 276.219 13.2672 79.6079 0.130961 -0.461219 -0.877568
158 276.259 13.1264 79.34 0.130961 -0.461219 -0.877568
159 276.286 13.0292 79.1551 0.130961 -0.461219 -0.877568
160 276.328 12.8809 78.8729 0.130961 -0.461219 -0.877568
161 276.329 12.8802 78.8716 0.130961 -0.461219 -0.877568
162 276.354 12.7913 78.7025 0.130961 -0.461219 -0.877568
163 276.42 12.5566 78.2559 0.130961 -0.461219 -0.877568
164 276.488 12.3191 77.8039 0.130961 -0.461219 -0.877568
165 276.619 11.8583 76.9271 0.130961 -0.461219 -0.877568
166 276.677 11.654 76.5384 0.130961 -0.461219 -0.877568
167 276.744 11.4159 76.0854 0.130961 -0.461219 -0.877568
168 276.753 11.3847 76.0261 0.130961 -0.461219 -0.877568
169 276.809 11.1877 75.6513 0.130961 -0.461219 -0.877568
170 276.816 11.1649 75.6078 0.130961 -0.461219 -0.877568
171 276.885 10.9463 75.1878 0.148471 -0.455276 -0.877884
172 276.886 10.943 75.1814 0.148471 -0.455276 -0.877884
173 277.02 10.5311 74.3872 0.148471 -0.455276 -0.877884
174 277.2 9.97846 73.3215 0.148471 -0.455276 -0.877884
175 277.267 9.77349 72.9263 0.148471 -0.455276 -0.877884
176 277.278 9.73977 72.8613 0.148471 -0.455276 -0.877884
177 277.282 9.72721 72.8371 0.148471 -0.455276 -0.877884
178 277.361 9.48492 72.3699 0.148471 -0.455276 -0.877884
179 277.438 9.24756 71.9122 0.148471 -0.455276 -0.877884
180 277.504 9.04759 71.5266 0.148471 -0.455276 -0.877884
181 277.513 9.01893 71.4713 0.148471 -0.455276 -0.877884
182 277.517 9.00759 71.4495 0.148471 -0.455276 -0.877884
183 277.58 8.8133 71.0748 0.148471 -0.455276 -0.877884
184 277.591 8.77943 71.0095 0.148471 -0.455276 -0.877884
185 277.653 8.58957 70.6434 0.148471 -0.455276 -0.877884
186 277.668 8.54422 70.556 0.148471 -0.455276 -0.877884
187 277.729 8.35749 70.1959 0.148471 -0.455276 -0.877884
188 277.751 8.28996 70.0657 0.148471 -0.455276 -0.877884
189 277.805 8.12374 69.7452 0.148471 -0.455276 -0.877884
190 277.88 7.89326 69.3007 0.148471 -0.455276 -0.877884
191 277.989 7.55907 68.6563 0.148471 -0.455276 -0.877884
192 278.004 7.51201 68.5656 0.148471 -0.455276 -0.877884
193 278.031 7.42562 68.3996 0.131731 -0.458616 -0.878816
194 278.061 7.32075 68.1986 0.131731 -0.458616 -0.878816
195 278.099 7.18759 67.9435 0.131731 -0.458616 -0.878816
196 278.13 7.08121 67.7396 0.131731 -0.458616 -0.878816
197 278.195 6.85351 67.3033 0.131731 -0.458616 -0.878816
198 278.234 6.71918 67.0459 0.131731 -0.458616 -0.878816
199 278.245 6.6784 66.9678 0.131731 -0.458616 -0.878816
200 278.333 6.37205 66.3807 0.131731 -0.458616 -0.878816
201 278.369 6.24718 66.1414 0.131731 -0.458616 -0.878816
202 278.438 6.00945 65.6859 0.131731 -0.458616 -0.878816
203 278.477 5.87072 65.42 0.131731 -0.458616 -0.878816
204 278.572 5.54215 64.7904 0.131731 -0.458616 -0.878816
205 278.615 5.39336 64.5053 0.131731 -0.458616 -0.878816
206 278.636 5.31688 64.3588 0.131731 -0.458616 -0.878816
207 278.684 5.14975 64.0385 0.131731 -0.458616 -0.878816
208 278.755 4.90352 63.5667 0.131731 -0.458616 -0.878816
209 278.821 4.67555 63.1298 0.131731 -0.458616 -0.878816
210 278.89 4.43304 62.6651 0.131731 -0.458616 -0.878816
211 278.922 4.32126 62.4509 0.131731 -0.458616 -0.878816
212 278.959 4.1947 62.2084 0.131731 -0.458616 -0.878816
213 279.042 3.90549 61.6542 0.131731 -0.458616 -0.878816
214 279.101 3.69823 61.2571 -0.998855 -0.0132353 -0.0459829
215 279.101 3.69823 61.2571 -0.998855 -0.0132353 -0.0459829
216 279.101 3.69823 61.2571 -0.998855 -0.0132353 -0.0459829
217 279.101 3.69823 61.2571 -0.998855 -0.0132353 -0.0459829
218 279.101 3.69823 61.2571 -0.998855 -0.0132353 -0.0459829
219 279.101 3.69823 61.2571 -0.998855 -0.0132353 -0.0459829
220 279.101 3.69823 61.2571 -0.998855 -0.0132353 -0.0459829
221 279.101 3.69823 61.2571 -0.998855 -0.0132353 -0.0459829
222 279.101 3.69823 61.2571 -0.998855 -0.0132353 -0.0459829
223 279.101 3.69823 61.2571 -0.998855 -0.0132353 -0.0459829
224 279.101 3.69823 61.2571 -0.998855 -0.0132353 -0.0459829
225 279.101 3.69823 61.2571 -0.998855 -0.0132353 -0.0459829
226 279.101 3.69823 61.2571 -0.998855 -0.0132353 -0.0459829

The unstitched tracks:
Track id 4:

idx    x       y       z      dirx     diry       dirz
0 264.133 52.5319 154.561 0.149783 -0.450637 -0.880052
1 264.343 51.9023 153.331 0.149783 -0.450637 -0.880052
2 264.589 51.1608 151.883 0.149783 -0.450637 -0.880052
3 265.087 49.6642 148.961 0.149783 -0.450637 -0.880052
4 265.337 48.9096 147.487 0.149783 -0.450637 -0.880052
5 265.345 48.8879 147.445 0.149783 -0.450637 -0.880052
6 265.423 48.6514 146.983 0.149783 -0.450637 -0.880052
7 265.597 48.128 145.96 0.149783 -0.450637 -0.880052
8 265.664 47.9276 145.569 0.149783 -0.450637 -0.880052
9 265.906 47.1988 144.146 0.149783 -0.450637 -0.880052
10 265.98 46.9764 143.712 0.149783 -0.450637 -0.880052
11 265.988 46.9523 143.665 0.149783 -0.450637 -0.880052
12 266.066 46.7188 143.209 0.149783 -0.450637 -0.880052
13 266.08 46.6746 143.122 0.149783 -0.450637 -0.880052
14 266.143 46.4866 142.755 0.149783 -0.450637 -0.880052
15 266.3 46.0149 141.834 0.149783 -0.450637 -0.880052
16 266.337 45.9032 141.616 0.149783 -0.450637 -0.880052
17 266.372 45.7981 141.411 0.149783 -0.450637 -0.880052
18 266.447 45.5709 140.967 0.149783 -0.450637 -0.880052
19 266.521 45.3486 140.533 0.149783 -0.450637 -0.880052
20 266.587 45.1374 140.13 0.142931 -0.460791 -0.875924
21 266.593 45.1182 140.093 0.142931 -0.460791 -0.875924
22 266.814 44.407 138.741 0.142931 -0.460791 -0.875924
23 266.843 44.3124 138.561 0.142931 -0.460791 -0.875924
24 266.888 44.167 138.285 0.142931 -0.460791 -0.875924
25 267.036 43.6903 137.379 0.142931 -0.460791 -0.875924
26 267.094 43.5037 137.024 0.142931 -0.460791 -0.875924
27 267.109 43.4558 136.933 0.142931 -0.460791 -0.875924
28 267.184 43.214 136.474 0.142931 -0.460791 -0.875924
29 267.255 42.9835 136.035 0.142931 -0.460791 -0.875924
30 267.328 42.7473 135.586 0.142931 -0.460791 -0.875924
31 267.357 42.6557 135.412 0.142931 -0.460791 -0.875924
32 267.401 42.5137 135.142 0.142931 -0.460791 -0.875924
33 267.437 42.3967 134.92 0.142931 -0.460791 -0.875924
34 267.514 42.1506 134.452 0.142931 -0.460791 -0.875924
35 267.591 41.8997 133.975 0.142931 -0.460791 -0.875924
36 267.62 41.8069 133.799 0.142931 -0.460791 -0.875924
37 267.746 41.402 133.029 0.142931 -0.460791 -0.875924
38 267.767 41.3349 132.902 0.142931 -0.460791 -0.875924
39 267.82 41.1622 132.573 0.142931 -0.460791 -0.875924
40 267.841 41.0934 132.443 0.142931 -0.460791 -0.875924
41 267.848 41.0736 132.405 0.142931 -0.460791 -0.875924
42 267.991 40.6112 131.526 0.142931 -0.460791 -0.875924
43 268.064 40.3758 131.078 0.142931 -0.460791 -0.875924
44 268.101 40.2581 130.855 0.142931 -0.460791 -0.875924
45 268.116 40.2078 130.759 0.142931 -0.460791 -0.875924
46 268.193 39.9615 130.291 0.142931 -0.460791 -0.875924
47 268.209 39.9079 130.189 0.142931 -0.460791 -0.875924
48 268.267 39.7227 129.837 0.142931 -0.460791 -0.875924
49 268.342 39.4809 129.377 0.142931 -0.460791 -0.875924
50 268.5 38.9713 128.408 0.142931 -0.460791 -0.875924
51 268.574 38.7335 127.956 0.142931 -0.460791 -0.875924
52 268.575 38.73 127.95 0.142931 -0.460791 -0.875924
53 268.648 38.4938 127.501 0.142931 -0.460791 -0.875924
54 268.721 38.2594 127.055 0.142931 -0.460791 -0.875924
55 268.722 38.2547 127.046 0.138242 -0.457774 -0.878255
56 268.792 38.023 126.602 0.138242 -0.457774 -0.878255
57 268.798 38.0026 126.563 0.138242 -0.457774 -0.878255
58 269.004 37.3198 125.253 0.138242 -0.457774 -0.878255
59 269.06 37.1363 124.901 0.138242 -0.457774 -0.878255
60 269.077 37.0801 124.793 0.138242 -0.457774 -0.878255
61 269.217 36.6169 123.904 0.138242 -0.457774 -0.878255
62 269.287 36.3829 123.455 0.138242 -0.457774 -0.878255
63 269.289 36.3784 123.446 0.138242 -0.457774 -0.878255
64 269.354 36.1605 123.028 0.138242 -0.457774 -0.878255
65 269.376 36.0881 122.89 0.138242 -0.457774 -0.878255
66 269.447 35.8547 122.442 0.138242 -0.457774 -0.878255
67 269.498 35.6847 122.116 0.138242 -0.457774 -0.878255
68 269.52 35.6134 121.979 0.138242 -0.457774 -0.878255
69 269.52 35.6129 121.978 0.138242 -0.457774 -0.878255
70 269.57 35.4457 121.657 0.138242 -0.457774 -0.878255
71 269.775 34.768 120.357 0.138242 -0.457774 -0.878255
72 269.887 34.3963 119.644 0.138242 -0.457774 -0.878255
73 270.014 33.975 118.836 0.138242 -0.457774 -0.878255
74 270.137 33.5681 118.055 0.138242 -0.457774 -0.878255
75 270.395 32.7149 116.418 0.138242 -0.457774 -0.878255
76 270.466 32.4796 115.967 0.138242 -0.457774 -0.878255
77 270.469 32.4689 115.946 0.138242 -0.457774 -0.878255
78 270.545 32.2188 115.466 0.138242 -0.457774 -0.878255
79 270.621 31.9752 114.994 0.141775 -0.453729 -0.879789
80 270.695 31.7382 114.535 0.141775 -0.453729 -0.879789
81 270.705 31.7063 114.473 0.141775 -0.453729 -0.879789
82 270.765 31.5119 114.096 0.141775 -0.453729 -0.879789
83 270.84 31.2743 113.635 0.141775 -0.453729 -0.879789
84 270.939 30.9555 113.017 0.141775 -0.453729 -0.879789
85 271.18 30.184 111.521 0.141775 -0.453729 -0.879789
86 271.22 30.0583 111.278 0.141775 -0.453729 -0.879789
87 271.295 29.8183 110.812 0.141775 -0.453729 -0.879789
88 271.37 29.5767 110.344 0.141775 -0.453729 -0.879789
89 271.428 29.3929 109.987 0.141775 -0.453729 -0.879789
90 271.428 29.3905 109.983 0.141775 -0.453729 -0.879789
91 271.513 29.1195 109.457 0.141775 -0.453729 -0.879789
92 271.572 28.9308 109.091 0.141775 -0.453729 -0.879789
93 271.588 28.8789 108.991 0.141775 -0.453729 -0.879789
94 271.663 28.6383 108.524 0.141775 -0.453729 -0.879789
95 271.669 28.619 108.487 0.141775 -0.453729 -0.879789
96 271.717 28.4678 108.194 0.141775 -0.453729 -0.879789
97 271.968 27.664 106.635 0.141775 -0.453729 -0.879789
98 272.043 27.4232 106.168 0.141775 -0.453729 -0.879789
99 272.114 27.1946 105.725 0.141775 -0.453729 -0.879789
100 272.19 26.9532 105.257 0.141775 -0.453729 -0.879789
101 272.266 26.7089 104.783 0.141775 -0.453729 -0.879789

Track id 1:

idx    x       y       z      dirx     diry       dirz
0 272.517 24.2575 101.63 0.158713 -0.405105 -0.900389
1 272.536 24.2075 101.519 0.158713 -0.405105 -0.900389
2 272.562 24.141 101.371 0.158713 -0.405105 -0.900389
3 272.595 24.0576 101.186 0.158713 -0.405105 -0.900389
4 272.641 23.9397 100.924 0.158713 -0.405105 -0.900389
5 272.675 23.8532 100.732 0.158713 -0.405105 -0.900389
6 272.691 23.813 100.642 0.158713 -0.405105 -0.900389
7 272.814 23.4995 99.9456 0.158713 -0.405105 -0.900389
8 272.894 23.2941 99.489 0.158713 -0.405105 -0.900389
9 272.91 23.2539 99.3996 0.158713 -0.405105 -0.900389
10 272.916 23.2375 99.3633 0.158713 -0.405105 -0.900389
11 273.064 22.86 98.5241 0.158713 -0.405105 -0.900389
12 273.231 22.4341 97.5776 0.158713 -0.405105 -0.900389
13 273.248 22.3914 97.4827 0.158713 -0.405105 -0.900389
14 273.31 22.2317 97.1277 0.158713 -0.405105 -0.900389
15 273.331 22.1781 97.0085 0.158713 -0.405105 -0.900389
16 273.382 22.0499 96.7236 0.158713 -0.405105 -0.900389
17 273.412 21.9732 96.5531 0.158713 -0.405105 -0.900389
18 273.469 21.8261 96.2262 0.158713 -0.405105 -0.900389
19 273.497 21.7544 96.0669 0.158713 -0.405105 -0.900389
20 273.546 21.6264 95.7918 0.161412 -0.446547 -0.880081
21 273.583 21.5264 95.5946 0.161412 -0.446547 -0.880081
22 273.634 21.3835 95.3131 0.161412 -0.446547 -0.880081
23 273.669 21.2883 95.1254 0.161412 -0.446547 -0.880081
24 273.709 21.1757 94.9035 0.161412 -0.446547 -0.880081
25 273.792 20.9469 94.4527 0.161412 -0.446547 -0.880081
26 273.874 20.7204 94.0063 0.161412 -0.446547 -0.880081
27 273.904 20.638 93.8438 0.161412 -0.446547 -0.880081
28 273.934 20.555 93.6801 0.161412 -0.446547 -0.880081
29 274.017 20.3255 93.228 0.161412 -0.446547 -0.880081
30 274.04 20.261 93.1008 0.161412 -0.446547 -0.880081
31 274.102 20.0899 92.7637 0.161412 -0.446547 -0.880081
32 274.124 20.0295 92.6446 0.161412 -0.446547 -0.880081
33 274.287 19.5761 91.751 0.161412 -0.446547 -0.880081
34 274.428 19.1866 90.9833 0.161412 -0.446547 -0.880081
35 274.536 18.8897 90.3982 0.161412 -0.446547 -0.880081
36 274.616 18.6677 89.9605 0.161412 -0.446547 -0.880081
37 274.703 18.4267 89.4856 0.161412 -0.446547 -0.880081
38 274.945 17.6373 87.9652 0.135355 -0.458184 -0.878491
39 275.397 16.1049 85.027 0.135355 -0.458184 -0.878491
40 275.421 16.0238 84.8717 0.135355 -0.458184 -0.878491
41 275.493 15.7826 84.4092 0.135355 -0.458184 -0.878491
42 275.561 15.5526 83.9681 0.135355 -0.458184 -0.878491
43 275.626 15.3323 83.5457 0.135355 -0.458184 -0.878491
44 275.676 15.1629 83.221 0.135355 -0.458184 -0.878491
45 275.703 15.0708 83.0444 0.135355 -0.458184 -0.878491
46 275.745 14.9275 82.7696 0.135355 -0.458184 -0.878491
47 275.814 14.6926 82.3201 0.130961 -0.461219 -0.877568
48 275.85 14.5656 82.0784 0.130961 -0.461219 -0.877568
49 275.881 14.4558 81.8695 0.130961 -0.461219 -0.877568
50 276.056 13.8395 80.6968 0.130961 -0.461219 -0.877568
51 276.084 13.7405 80.5084 0.130961 -0.461219 -0.877568
52 276.093 13.7088 80.4481 0.130961 -0.461219 -0.877568
53 276.125 13.5978 80.237 0.130961 -0.461219 -0.877568
54 276.19 13.3695 79.8027 0.130961 -0.461219 -0.877568
55 276.219 13.2672 79.6079 0.130961 -0.461219 -0.877568
56 276.259 13.1264 79.34 0.130961 -0.461219 -0.877568
57 276.286 13.0292 79.1551 0.130961 -0.461219 -0.877568
58 276.328 12.8809 78.8729 0.130961 -0.461219 -0.877568
59 276.329 12.8802 78.8716 0.130961 -0.461219 -0.877568
60 276.354 12.7913 78.7025 0.130961 -0.461219 -0.877568
61 276.42 12.5566 78.2559 0.130961 -0.461219 -0.877568
62 276.488 12.3191 77.8039 0.130961 -0.461219 -0.877568
63 276.619 11.8583 76.9271 0.130961 -0.461219 -0.877568
64 276.677 11.654 76.5384 0.130961 -0.461219 -0.877568
65 276.744 11.4159 76.0854 0.130961 -0.461219 -0.877568
66 276.753 11.3847 76.0261 0.130961 -0.461219 -0.877568
67 276.809 11.1877 75.6513 0.130961 -0.461219 -0.877568
68 276.816 11.1649 75.6078 0.130961 -0.461219 -0.877568
69 276.885 10.9463 75.1878 0.148471 -0.455276 -0.877884
70 276.886 10.943 75.1814 0.148471 -0.455276 -0.877884
71 277.02 10.5311 74.3872 0.148471 -0.455276 -0.877884
72 277.2 9.97846 73.3215 0.148471 -0.455276 -0.877884
73 277.267 9.77349 72.9263 0.148471 -0.455276 -0.877884
74 277.278 9.73977 72.8613 0.148471 -0.455276 -0.877884
75 277.282 9.72721 72.8371 0.148471 -0.455276 -0.877884
76 277.361 9.48492 72.3699 0.148471 -0.455276 -0.877884
77 277.438 9.24756 71.9122 0.148471 -0.455276 -0.877884
78 277.504 9.04759 71.5266 0.148471 -0.455276 -0.877884
79 277.513 9.01893 71.4713 0.148471 -0.455276 -0.877884
80 277.517 9.00759 71.4495 0.148471 -0.455276 -0.877884
81 277.58 8.8133 71.0748 0.148471 -0.455276 -0.877884
82 277.591 8.77943 71.0095 0.148471 -0.455276 -0.877884
83 277.653 8.58957 70.6434 0.148471 -0.455276 -0.877884
84 277.668 8.54422 70.556 0.148471 -0.455276 -0.877884
85 277.729 8.35749 70.1959 0.148471 -0.455276 -0.877884
86 277.751 8.28996 70.0657 0.148471 -0.455276 -0.877884
87 277.805 8.12374 69.7452 0.148471 -0.455276 -0.877884
88 277.88 7.89326 69.3007 0.148471 -0.455276 -0.877884
89 277.989 7.55907 68.6563 0.148471 -0.455276 -0.877884
90 278.004 7.51201 68.5656 0.148471 -0.455276 -0.877884
91 278.031 7.42562 68.3996 0.131731 -0.458616 -0.878816
92 278.061 7.32075 68.1986 0.131731 -0.458616 -0.878816
93 278.099 7.18759 67.9435 0.131731 -0.458616 -0.878816
94 278.13 7.08121 67.7396 0.131731 -0.458616 -0.878816
95 278.195 6.85351 67.3033 0.131731 -0.458616 -0.878816
96 278.234 6.71918 67.0459 0.131731 -0.458616 -0.878816
97 278.245 6.6784 66.9678 0.131731 -0.458616 -0.878816
98 278.333 6.37205 66.3807 0.131731 -0.458616 -0.878816
99 278.369 6.24718 66.1414 0.131731 -0.458616 -0.878816
100 278.438 6.00945 65.6859 0.131731 -0.458616 -0.878816
101 278.477 5.87072 65.42 0.131731 -0.458616 -0.878816
102 278.572 5.54215 64.7904 0.131731 -0.458616 -0.878816
103 278.615 5.39336 64.5053 0.131731 -0.458616 -0.878816
104 278.636 5.31688 64.3588 0.131731 -0.458616 -0.878816
105 278.684 5.14975 64.0385 0.131731 -0.458616 -0.878816
106 278.755 4.90352 63.5667 0.131731 -0.458616 -0.878816
107 278.821 4.67555 63.1298 0.131731 -0.458616 -0.878816
108 278.89 4.43304 62.6651 0.131731 -0.458616 -0.878816
109 278.922 4.32126 62.4509 0.131731 -0.458616 -0.878816
110 278.959 4.1947 62.2084 0.131731 -0.458616 -0.878816
111 279.042 3.90549 61.6542 0.131731 -0.458616 -0.878816
112 279.323 2.96431 59.8444 0.138155 -0.456614 -0.878873
113 279.369 2.81387 59.5549 0.138155 -0.456614 -0.878873
114 279.534 2.26868 58.5055 0.138155 -0.456614 -0.878873
115 279.602 2.04493 58.0748 0.138155 -0.456614 -0.878873
116 279.672 1.81321 57.6288 0.138155 -0.456614 -0.878873
117 279.743 1.57914 57.1783 0.138155 -0.456614 -0.878873
118 279.843 1.24839 56.5417 0.138155 -0.456614 -0.878873
119 280.026 0.643324 55.3771 0.138155 -0.456614 -0.878873
120 280.079 0.466347 55.0365 0.138155 -0.456614 -0.878873
121 280.169 0.168602 54.4634 0.138155 -0.456614 -0.878873
122 280.24 -0.0649955 54.0137 0.138155 -0.456614 -0.878873
123 280.311 -0.300044 53.5613 0.138155 -0.456614 -0.878873
124 280.321 -0.332896 53.4981 0.138155 -0.456614 -0.878873

Stitched track has 227 trajectory points.
Unsitched tracks have 102+125=227 trajectory points.



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