+ python -m profile_alignment --sonar --shape /working/shape.shp --write-shape /working/shape.json /working/85c94329-8207-4945-a7c2-721a40ff6cca/processing/data/laser.ptd.dat fit
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.24
Input file:  /working/85c94329-8207-4945-a7c2-721a40ff6cca/processing/data/laser.ptd.dat
Add sonar points?:  True
Selected method:  fit
Shape to fit: /working/shape.shp
Writing the selected reference shape: True
The output alignment extension: json
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
 Reading PTD file in binary format...
 Completed!
=-=-=-=-=-Adding Sonar points -=-=-=-=-=-=-
2026-03-05T00:33:00 - INFO:  Reading sonar track took 0.3004333972930908 sec!
2026-03-05T00:33:00 - INFO:  Reading sonar alignment track took {0.0038034915924072266} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
2026-03-05T00:33:00 - INFO: Reference shape is detected as CIRCLE, forcing rotation to zero
2026-03-05T00:33:00 - INFO:  Calculating the size for all frames

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2026-03-05T00:34:19 - INFO:  Median Scale of {200} frame found to be: {1.010208160845532}
2026-03-05T00:34:19 - INFO: The selected reference shape JSON to: {/working/shape.json}
2026-03-05T00:34:19 - INFO:  Fit to reference shape: 

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  9%|▉         | 1285/13566 [02:23<20:42,  9.88it/s]2026-03-05T00:36:43 - WARNING: Optimization failed for a frame: {ABNORMAL: }

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 14%|█▍        | 1873/13566 [03:23<14:56, 13.05it/s]
 14%|█▍        | 1875/13566 [03:23<14:31, 13.42it/s]
 14%|█▍        | 1877/13566 [03:23<14:22, 13.55it/s]
 14%|█▍        | 1879/13566 [03:24<13:24, 14.53it/s]
 14%|█▍        | 1881/13566 [03:24<13:37, 14.29it/s]
 14%|█▍        | 1883/13566 [03:24<15:33, 12.51it/s]
 14%|█▍        | 1885/13566 [03:24<14:06, 13.80it/s]
 14%|█▍        | 1887/13566 [03:24<14:09, 13.75it/s]2026-03-05T00:37:44 - WARNING: Optimization failed for a frame: {ABNORMAL: }

 14%|█▍        | 1889/13566 [03:25<30:39,  6.35it/s]
 14%|█▍        | 1891/13566 [03:25<26:59,  7.21it/s]
 14%|█▍        | 1893/13566 [03:25<23:30,  8.28it/s]
 14%|█▍        | 1895/13566 [03:25<24:29,  7.94it/s]
 14%|█▍        | 1897/13566 [03:26<25:31,  7.62it/s]
 14%|█▍        | 1898/13566 [03:26<28:24,  6.84it/s]
 14%|█▍        | 1899/13566 [03:26<33:21,  5.83it/s]
 14%|█▍        | 1900/13566 [03:26<33:34,  5.79it/s]
 14%|█▍        | 1901/13566 [03:27<31:25,  6.19it/s]
 14%|█▍        | 1902/13566 [03:27<33:56,  5.73it/s]2026-03-05T00:37:47 - WARNING: Optimization failed for a frame: {ABNORMAL: }

 14%|█▍        | 1903/13566 [03:27<53:50,  3.61it/s]
 14%|█▍        | 1904/13566 [03:28<50:00,  3.89it/s]
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 14%|█▍        | 1926/13566 [03:30<23:29,  8.26it/s]
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 14%|█▍        | 1944/13566 [03:33<25:03,  7.73it/s]
 14%|█▍        | 1945/13566 [03:33<24:57,  7.76it/s]
 14%|█▍        | 1947/13566 [03:33<21:29,  9.01it/s]
 14%|█▍        | 1948/13566 [03:33<21:54,  8.84it/s]
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 14%|█▍        | 1950/13566 [03:33<26:07,  7.41it/s]
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 14%|█▍        | 1952/13566 [03:34<33:53,  5.71it/s]
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 14%|█▍        | 1955/13566 [03:34<28:19,  6.83it/s]
 14%|█▍        | 1957/13566 [03:34<26:02,  7.43it/s]
 14%|█▍        | 1959/13566 [03:34<22:21,  8.65it/s]
 14%|█▍        | 1960/13566 [03:35<23:59,  8.06it/s]
 14%|█▍        | 1962/13566 [03:35<20:38,  9.37it/s]
 14%|█▍        | 1964/13566 [03:35<18:51, 10.26it/s]
 14%|█▍        | 1966/13566 [03:35<17:39, 10.95it/s]
 15%|█▍        | 1968/13566 [03:35<19:26,  9.94it/s]
 15%|█▍        | 1970/13566 [03:36<28:39,  6.75it/s]
 15%|█▍        | 1971/13566 [03:36<27:24,  7.05it/s]
 15%|█▍        | 1972/13566 [03:36<28:21,  6.82it/s]
 15%|█▍        | 1973/13566 [03:36<27:01,  7.15it/s]
 15%|█▍        | 1974/13566 [03:36<31:18,  6.17it/s]
 15%|█▍        | 1975/13566 [03:37<33:58,  5.69it/s]
 15%|█▍        | 1976/13566 [03:37<35:39,  5.42it/s]
 15%|█▍        | 1977/13566 [03:37<36:49,  5.25it/s]
 15%|█▍        | 1979/13566 [03:37<26:33,  7.27it/s]
 15%|█▍        | 1980/13566 [03:37<24:57,  7.74it/s]
 15%|█▍        | 1981/13566 [03:38<28:08,  6.86it/s]
 15%|█▍        | 1982/13566 [03:38<36:24,  5.30it/s]
 15%|█▍        | 1983/13566 [03:38<34:11,  5.65it/s]
 15%|█▍        | 1984/13566 [03:38<35:47,  5.39it/s]
 15%|█▍        | 1985/13566 [03:38<36:46,  5.25it/s]
 15%|█▍        | 1987/13566 [03:39<29:34,  6.53it/s]
 15%|█▍        | 1989/13566 [03:39<25:50,  7.47it/s]
 15%|█▍        | 1991/13566 [03:39<22:04,  8.74it/s]
 15%|█▍        | 1993/13566 [03:39<18:44, 10.29it/s]
 15%|█▍        | 1995/13566 [03:39<17:59, 10.72it/s]
 15%|█▍        | 1997/13566 [03:39<17:31, 11.01it/s]
 15%|█▍        | 1999/13566 [03:40<18:54, 10.20it/s]
 15%|█▍        | 2001/13566 [03:40<20:29,  9.40it/s]
 15%|█▍        | 2002/13566 [03:40<23:40,  8.14it/s]
 15%|█▍        | 2004/13566 [03:40<24:43,  7.79it/s]
 15%|█▍        | 2006/13566 [03:41<21:59,  8.76it/s]
 15%|█▍        | 2007/13566 [03:41<24:11,  7.96it/s]
 15%|█▍        | 2009/13566 [03:41<20:35,  9.35it/s]
 15%|█▍        | 2011/13566 [03:41<17:46, 10.84it/s]
 15%|█▍        | 2013/13566 [03:41<20:23,  9.45it/s]
 15%|█▍        | 2015/13566 [03:42<25:52,  7.44it/s]
 15%|█▍        | 2017/13566 [03:42<24:02,  8.01it/s]
 15%|█▍        | 2019/13566 [03:42<23:06,  8.33it/s]
 15%|█▍        | 2021/13566 [03:42<21:49,  8.81it/s]
 15%|█▍        | 2022/13566 [03:42<25:06,  7.66it/s]
 15%|█▍        | 2023/13566 [03:43<24:38,  7.81it/s]
 15%|█▍        | 2024/13566 [03:43<25:33,  7.53it/s]2026-03-05T00:38:03 - WARNING: Optimization failed for a frame: {ABNORMAL: }

 15%|█▍        | 2025/13566 [03:43<38:32,  4.99it/s]
 15%|█▍        | 2026/13566 [03:43<40:45,  4.72it/s]
 15%|█▍        | 2027/13566 [03:44<37:13,  5.17it/s]
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 15%|█▌        | 2041/13566 [03:45<20:34,  9.34it/s]
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 15%|█▌        | 2049/13566 [03:46<17:44, 10.82it/s]
 15%|█▌        | 2051/13566 [03:46<17:57, 10.68it/s]
 15%|█▌        | 2053/13566 [03:47<25:29,  7.53it/s]
 15%|█▌        | 2055/13566 [03:47<25:22,  7.56it/s]2026-03-05T00:38:07 - WARNING: Optimization failed for a frame: {ABNORMAL: }

 15%|█▌        | 2056/13566 [03:47<32:58,  5.82it/s]
 15%|█▌        | 2057/13566 [03:48<34:55,  5.49it/s]
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 15%|█▌        | 2068/13566 [03:49<25:42,  7.45it/s]
 15%|█▌        | 2069/13566 [03:49<24:50,  7.72it/s]
 15%|█▌        | 2071/13566 [03:50<25:51,  7.41it/s]
 15%|█▌        | 2073/13566 [03:50<21:21,  8.97it/s]
 15%|█▌        | 2074/13566 [03:50<26:42,  7.17it/s]
 15%|█▌        | 2076/13566 [03:50<25:46,  7.43it/s]
 15%|█▌        | 2077/13566 [03:50<25:08,  7.62it/s]
 15%|█▌        | 2078/13566 [03:50<25:00,  7.66it/s]
 15%|█▌        | 2080/13566 [03:51<23:25,  8.17it/s]
 15%|█▌        | 2081/13566 [03:51<23:11,  8.25it/s]2026-03-05T00:38:11 - WARNING: Optimization failed for a frame: {ABNORMAL: }

 15%|█▌        | 2083/13566 [03:51<33:07,  5.78it/s]
 15%|█▌        | 2084/13566 [03:51<30:29,  6.28it/s]
 15%|█▌        | 2086/13566 [03:52<26:00,  7.36it/s]
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 16%|█▌        | 2116/13566 [03:56<29:37,  6.44it/s]
 16%|█▌        | 2117/13566 [03:56<31:29,  6.06it/s]
 16%|█▌        | 2118/13566 [03:56<33:15,  5.74it/s]
 16%|█▌        | 2119/13566 [03:56<29:24,  6.49it/s]
 16%|█▌        | 2120/13566 [03:57<30:47,  6.19it/s]
 16%|█▌        | 2122/13566 [03:57<32:57,  5.79it/s]
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 16%|█▌        | 2124/13566 [03:58<40:09,  4.75it/s]
 16%|█▌        | 2125/13566 [03:58<39:41,  4.80it/s]
 16%|█▌        | 2126/13566 [03:58<43:17,  4.40it/s]
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 16%|█▌        | 2131/13566 [03:59<30:47,  6.19it/s]
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 16%|█▌        | 2135/13566 [03:59<31:05,  6.13it/s]
 16%|█▌        | 2136/13566 [04:00<33:13,  5.73it/s]
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 16%|█▌        | 2140/13566 [04:00<28:31,  6.68it/s]
 16%|█▌        | 2141/13566 [04:00<27:41,  6.88it/s]
 16%|█▌        | 2142/13566 [04:01<29:21,  6.49it/s]
 16%|█▌        | 2144/13566 [04:01<23:26,  8.12it/s]
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 16%|█▌        | 2165/13566 [04:03<22:42,  8.37it/s]
 16%|█▌        | 2166/13566 [04:03<23:09,  8.20it/s]
 16%|█▌        | 2168/13566 [04:04<20:17,  9.36it/s]
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 16%|█▌        | 2170/13566 [04:04<21:27,  8.85it/s]
 16%|█▌        | 2171/13566 [04:04<24:25,  7.78it/s]
 16%|█▌        | 2172/13566 [04:04<26:20,  7.21it/s]
 16%|█▌        | 2173/13566 [04:04<27:20,  6.94it/s]
 16%|█▌        | 2174/13566 [04:04<25:00,  7.59it/s]
 16%|█▌        | 2176/13566 [04:05<20:38,  9.20it/s]
 16%|█▌        | 2178/13566 [04:05<20:14,  9.38it/s]
 16%|█▌        | 2179/13566 [04:05<21:26,  8.85it/s]
 16%|█▌        | 2181/13566 [04:05<19:40,  9.65it/s]
 16%|█▌        | 2183/13566 [04:05<20:08,  9.42it/s]
 16%|█▌        | 2185/13566 [04:05<19:27,  9.75it/s]
 16%|█▌        | 2186/13566 [04:06<20:39,  9.18it/s]
 16%|█▌        | 2187/13566 [04:06<21:18,  8.90it/s]
 16%|█▌        | 2189/13566 [04:06<19:01,  9.97it/s]
 16%|█▌        | 2191/13566 [04:06<19:22,  9.79it/s]
 16%|█▌        | 2193/13566 [04:06<18:56, 10.01it/s]
 16%|█▌        | 2194/13566 [04:06<19:02,  9.95it/s]
 16%|█▌        | 2195/13566 [04:07<19:40,  9.63it/s]
 16%|█▌        | 2197/13566 [04:07<18:20, 10.33it/s]
 16%|█▌        | 2199/13566 [04:07<23:33,  8.04it/s]
 16%|█▌        | 2200/13566 [04:07<24:04,  7.87it/s]2026-03-05T00:38:27 - WARNING: Optimization failed for a frame: {ABNORMAL: }

 16%|█▌        | 2201/13566 [04:08<35:51,  5.28it/s]
 16%|█▌        | 2203/13566 [04:08<30:52,  6.13it/s]
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Track data saved to /working/85c94329-8207-4945-a7c2-721a40ff6cca/processing/data/alignment.track.json
 Writing PTD file in binary format...           Completed!
 PTD file is written to: /working/85c94329-8207-4945-a7c2-721a40ff6cca/processing/data/laser_aligned.ptd.dat