+ python -m profile_alignment --sonar --shape /working/shape.shp --write-shape /working/shape.json /working/d9a6a371-7a32-45ff-a037-f8042b39c69e/processing/data/laser.ptd.dat fit
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.25
Input file:  /working/d9a6a371-7a32-45ff-a037-f8042b39c69e/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 -=-=-=-=-=-=-
2026-03-15T18:51:11 - INFO:  Reading sonar track took 0.6178908348083496 sec!
2026-03-15T18:51:11 - INFO:  Reading sonar alignment track took {0.0006289482116699219} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
2026-03-15T18:51:12 - INFO: Reference shape is detected as CIRCLE, forcing rotation to zero
2026-03-15T18:51:12 - INFO:  Calculating the size for all frames

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2026-03-15T18:52:14 - INFO:  Median Scale of {200} frame found to be: {0.8902370130711712}
2026-03-15T18:52:14 - INFO: The selected reference shape JSON to: {/working/shape.json}
2026-03-15T18:52:14 - INFO:  Fit to reference shape: 

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  6%|▌         | 1719/29585 [02:02<31:39, 14.67it/s]
  6%|▌         | 1721/29585 [02:03<33:59, 13.66it/s]
  6%|▌         | 1723/29585 [02:03<33:47, 13.74it/s]
  6%|▌         | 1725/29585 [02:03<33:37, 13.81it/s]
  6%|▌         | 1727/29585 [02:03<33:45, 13.75it/s]
  6%|▌         | 1729/29585 [02:03<32:59, 14.07it/s]
  6%|▌         | 1731/29585 [02:03<32:04, 14.48it/s]
  6%|▌         | 1733/29585 [02:03<30:53, 15.03it/s]
  6%|▌         | 1735/29585 [02:04<33:57, 13.67it/s]
  6%|▌         | 1737/29585 [02:04<34:05, 13.61it/s]
  6%|▌         | 1739/29585 [02:04<33:30, 13.85it/s]
  6%|▌         | 1741/29585 [02:04<32:01, 14.49it/s]
  6%|▌         | 1743/29585 [02:04<32:00, 14.50it/s]
  6%|▌         | 1745/29585 [02:04<30:50, 15.04it/s]
  6%|▌         | 1747/29585 [02:04<31:16, 14.84it/s]
  6%|▌         | 1749/29585 [02:04<30:15, 15.34it/s]
  6%|▌         | 1751/29585 [02:05<29:53, 15.52it/s]
  6%|▌         | 1753/29585 [02:05<29:01, 15.98it/s]
  6%|▌         | 1755/29585 [02:05<29:21, 15.80it/s]
  6%|▌         | 1757/29585 [02:05<28:26, 16.30it/s]
  6%|▌         | 1759/29585 [02:05<30:45, 15.08it/s]
  6%|▌         | 1761/29585 [02:05<29:39, 15.63it/s]
  6%|▌         | 1763/29585 [02:05<28:09, 16.47it/s]
  6%|▌         | 1765/29585 [02:05<28:10, 16.46it/s]
  6%|▌         | 1767/29585 [02:06<27:29, 16.87it/s]
  6%|▌         | 1769/29585 [02:06<29:46, 15.57it/s]
  6%|▌         | 1771/29585 [02:06<31:41, 14.63it/s]
  6%|▌         | 1773/29585 [02:06<33:17, 13.92it/s]
  6%|▌         | 1775/29585 [02:06<33:15, 13.94it/s]
  6%|▌         | 1777/29585 [02:06<31:47, 14.58it/s]
  6%|▌         | 1779/29585 [02:06<29:32, 15.69it/s]
  6%|▌         | 1781/29585 [02:07<29:31, 15.70it/s]
  6%|▌         | 1783/29585 [02:07<31:07, 14.89it/s]
  6%|▌         | 1785/29585 [02:07<31:35, 14.66it/s]
  6%|▌         | 1787/29585 [02:07<33:45, 13.72it/s]
  6%|▌         | 1789/29585 [02:07<31:34, 14.68it/s]
  6%|▌         | 1791/29585 [02:07<34:46, 13.32it/s]
  6%|▌         | 1793/29585 [02:07<33:56, 13.65it/s]
  6%|▌         | 1795/29585 [02:08<34:15, 13.52it/s]
  6%|▌         | 1797/29585 [02:08<33:05, 14.00it/s]
  6%|▌         | 1799/29585 [02:08<31:15, 14.82it/s]
  6%|▌         | 1801/29585 [02:08<30:52, 15.00it/s]
  6%|▌         | 1803/29585 [02:08<34:36, 13.38it/s]
  6%|▌         | 1805/29585 [02:08<36:07, 12.82it/s]
  6%|▌         | 1807/29585 [02:08<35:28, 13.05it/s]
  6%|▌         | 1809/29585 [02:09<36:06, 12.82it/s]
  6%|▌         | 1811/29585 [02:09<34:25, 13.45it/s]
  6%|▌         | 1813/29585 [02:09<33:56, 13.63it/s]
  6%|▌         | 1816/29585 [02:09<30:21, 15.25it/s]
  6%|▌         | 1818/29585 [02:09<31:22, 14.75it/s]
  6%|▌         | 1820/29585 [02:09<32:44, 14.13it/s]
  6%|▌         | 1822/29585 [02:09<33:14, 13.92it/s]
  6%|▌         | 1824/29585 [02:10<34:25, 13.44it/s]
  6%|▌         | 1826/29585 [02:10<34:07, 13.56it/s]
  6%|▌         | 1828/29585 [02:10<31:53, 14.51it/s]
  6%|▌         | 1830/29585 [02:10<32:55, 14.05it/s]
  6%|▌         | 1832/29585 [02:10<32:01, 14.44it/s]
  6%|▌         | 1834/29585 [02:10<33:12, 13.93it/s]
  6%|▌         | 1836/29585 [02:10<31:38, 14.62it/s]
  6%|▌         | 1838/29585 [02:11<29:43, 15.56it/s]
  6%|▌         | 1840/29585 [02:11<31:05, 14.87it/s]
  6%|▌         | 1842/29585 [02:11<29:59, 15.42it/s]
  6%|▌         | 1844/29585 [02:11<30:53, 14.97it/s]
  6%|▌         | 1846/29585 [02:11<30:55, 14.95it/s]
  6%|▌         | 1848/29585 [02:11<29:43, 15.55it/s]
  6%|▋         | 1850/29585 [02:11<30:14, 15.28it/s]
  6%|▋         | 1852/29585 [02:12<30:40, 15.07it/s]
  6%|▋         | 1854/29585 [02:12<31:27, 14.69it/s]
  6%|▋         | 1856/29585 [02:12<32:51, 14.06it/s]
  6%|▋         | 1858/29585 [02:12<33:18, 13.88it/s]
  6%|▋         | 1860/29585 [02:12<34:06, 13.54it/s]
  6%|▋         | 1862/29585 [02:12<32:35, 14.18it/s]
  6%|▋         | 1864/29585 [02:12<33:56, 13.61it/s]
  6%|▋         | 1866/29585 [02:13<33:07, 13.95it/s]
  6%|▋         | 1868/29585 [02:13<31:21, 14.73it/s]
  6%|▋         | 1870/29585 [02:13<32:37, 14.16it/s]
  6%|▋         | 1872/29585 [02:13<30:58, 14.91it/s]
  6%|▋         | 1874/29585 [02:13<31:02, 14.88it/s]
  6%|▋         | 1876/29585 [02:13<31:55, 14.47it/s]
  6%|▋         | 1878/29585 [02:13<29:20, 15.74it/s]
  6%|▋         | 1880/29585 [02:13<29:11, 15.82it/s]
  6%|▋         | 1882/29585 [02:14<31:46, 14.53it/s]
  6%|▋         | 1884/29585 [02:14<32:39, 14.14it/s]
  6%|▋         | 1886/29585 [02:14<33:32, 13.76it/s]
  6%|▋         | 1888/29585 [02:14<31:52, 14.48it/s]
  6%|▋         | 1890/29585 [02:14<30:59, 14.90it/s]
  6%|▋         | 1892/29585 [02:14<30:18, 15.23it/s]
  6%|▋         | 1894/29585 [02:14<28:16, 16.32it/s]
  6%|▋         | 1896/29585 [02:15<28:51, 15.99it/s]
  6%|▋         | 1899/29585 [02:15<30:29, 15.14it/s]
  6%|▋         | 1901/29585 [02:15<30:28, 15.14it/s]
  6%|▋         | 1903/29585 [02:15<29:06, 15.85it/s]
  6%|▋         | 1905/29585 [02:15<28:30, 16.19it/s]
  6%|▋         | 1907/29585 [02:15<28:36, 16.13it/s]
  6%|▋         | 1909/29585 [02:15<29:04, 15.86it/s]
  6%|▋         | 1911/29585 [02:15<30:04, 15.33it/s]
  6%|▋         | 1913/29585 [02:16<31:35, 14.60it/s]
  6%|▋         | 1915/29585 [02:16<30:42, 15.01it/s]
  6%|▋         | 1918/29585 [02:16<27:30, 16.76it/s]
  6%|▋         | 1920/29585 [02:16<28:40, 16.08it/s]
  6%|▋         | 1922/29585 [02:16<30:18, 15.21it/s]
  7%|▋         | 1924/29585 [02:16<28:21, 16.26it/s]
  7%|▋         | 1926/29585 [02:16<30:24, 15.16it/s]
  7%|▋         | 1928/29585 [02:17<32:32, 14.16it/s]
  7%|▋         | 1930/29585 [02:17<31:34, 14.60it/s]
  7%|▋         | 1932/29585 [02:17<32:52, 14.02it/s]
  7%|▋         | 1934/29585 [02:17<34:41, 13.29it/s]
  7%|▋         | 1936/29585 [02:17<32:47, 14.05it/s]
  7%|▋         | 1938/29585 [02:17<31:12, 14.76it/s]
  7%|▋         | 1941/29585 [02:17<27:55, 16.49it/s]
  7%|▋         | 1943/29585 [02:18<29:49, 15.45it/s]
  7%|▋         | 1945/29585 [02:18<30:29, 15.11it/s]
  7%|▋         | 1947/29585 [02:18<30:45, 14.97it/s]
  7%|▋         | 1949/29585 [02:18<32:13, 14.30it/s]
  7%|▋         | 1951/29585 [02:18<31:09, 14.79it/s]
  7%|▋         | 1953/29585 [02:18<31:15, 14.73it/s]
  7%|▋         | 1955/29585 [02:18<29:49, 15.44it/s]
  7%|▋         | 1957/29585 [02:19<30:40, 15.01it/s]
  7%|▋         | 1959/29585 [02:19<30:02, 15.33it/s]
  7%|▋         | 1961/29585 [02:19<32:10, 14.31it/s]
  7%|▋         | 1963/29585 [02:19<31:12, 14.75it/s]
  7%|▋         | 1965/29585 [02:19<31:39, 14.54it/s]
  7%|▋         | 1967/29585 [02:19<29:08, 15.79it/s]
  7%|▋         | 1969/29585 [02:19<28:09, 16.35it/s]
  7%|▋         | 1971/29585 [02:19<30:05, 15.29it/s]
  7%|▋         | 1973/29585 [02:20<32:42, 14.07it/s]
  7%|▋         | 1975/29585 [02:20<33:00, 13.94it/s]
  7%|▋         | 1977/29585 [02:20<34:12, 13.45it/s]
  7%|▋         | 1979/29585 [02:20<33:32, 13.72it/s]
  7%|▋         | 1981/29585 [02:20<31:02, 14.82it/s]
  7%|▋         | 1983/29585 [02:20<32:32, 14.14it/s]
  7%|▋         | 1985/29585 [02:21<32:21, 14.21it/s]
  7%|▋         | 1987/29585 [02:21<32:32, 14.13it/s]
  7%|▋         | 1989/29585 [02:21<31:48, 14.46it/s]
  7%|▋         | 1991/29585 [02:21<30:46, 14.94it/s]
  7%|▋         | 1993/29585 [02:21<30:10, 15.24it/s]
  7%|▋         | 1995/29585 [02:21<28:25, 16.18it/s]
  7%|▋         | 1997/29585 [02:21<27:25, 16.76it/s]
  7%|▋         | 1999/29585 [02:21<26:54, 17.09it/s]
  7%|▋         | 2001/29585 [02:22<36:12, 12.70it/s]
  7%|▋         | 2003/29585 [02:22<34:23, 13.36it/s]
  7%|▋         | 2005/29585 [02:22<32:56, 13.95it/s]
  7%|▋         | 2007/29585 [02:22<32:52, 13.98it/s]
  7%|▋         | 2009/29585 [02:22<31:07, 14.77it/s]
  7%|▋         | 2011/29585 [02:22<29:06, 15.79it/s]
  7%|▋         | 2013/29585 [02:22<28:40, 16.02it/s]
  7%|▋         | 2015/29585 [02:22<29:42, 15.46it/s]
  7%|▋         | 2017/29585 [02:23<30:29, 15.07it/s]
  7%|▋         | 2019/29585 [02:23<31:08, 14.76it/s]
  7%|▋         | 2021/29585 [02:23<29:37, 15.51it/s]
  7%|▋         | 2023/29585 [02:23<32:59, 13.92it/s]
  7%|▋         | 2025/29585 [02:23<32:27, 14.15it/s]
  7%|▋         | 2027/29585 [02:23<33:05, 13.88it/s]
  7%|▋         | 2029/29585 [02:23<30:56, 14.85it/s]
  7%|▋         | 2031/29585 [02:24<31:17, 14.67it/s]
  7%|▋         | 2033/29585 [02:24<30:46, 14.92it/s]
  7%|▋         | 2035/29585 [02:24<33:26, 13.73it/s]
  7%|▋         | 2037/29585 [02:24<35:37, 12.89it/s]
  7%|▋         | 2039/29585 [02:24<34:43, 13.22it/s]
  7%|▋         | 2041/29585 [02:24<34:07, 13.45it/s]
  7%|▋         | 2043/29585 [02:25<33:03, 13.89it/s]
  7%|▋         | 2045/29585 [02:25<32:57, 13.92it/s]
  7%|▋         | 2047/29585 [02:25<33:15, 13.80it/s]
  7%|▋         | 2049/29585 [02:25<31:29, 14.57it/s]
  7%|▋         | 2051/29585 [02:25<31:30, 14.57it/s]
  7%|▋         | 2053/29585 [02:25<33:03, 13.88it/s]
  7%|▋         | 2055/29585 [02:25<31:22, 14.62it/s]
  7%|▋         | 2057/29585 [02:25<31:12, 14.70it/s]
  7%|▋         | 2059/29585 [02:26<31:17, 14.66it/s]
  7%|▋         | 2061/29585 [02:26<31:47, 14.43it/s]
  7%|▋         | 2063/29585 [02:26<33:11, 13.82it/s]
  7%|▋         | 2065/29585 [02:26<32:49, 13.97it/s]
  7%|▋         | 2068/29585 [02:26<29:27, 15.56it/s]
  7%|▋         | 2070/29585 [02:26<28:40, 16.00it/s]
  7%|▋         | 2072/29585 [02:26<29:30, 15.54it/s]
  7%|▋         | 2074/29585 [02:27<30:17, 15.14it/s]
  7%|▋         | 2076/29585 [02:27<29:25, 15.58it/s]
  7%|▋         | 2078/29585 [02:27<30:29, 15.03it/s]
  7%|▋         | 2080/29585 [02:27<31:33, 14.52it/s]
  7%|▋         | 2083/29585 [02:27<29:30, 15.53it/s]
  7%|▋         | 2085/29585 [02:27<30:34, 14.99it/s]
  7%|▋         | 2087/29585 [02:27<32:04, 14.29it/s]
  7%|▋         | 2089/29585 [02:28<32:28, 14.11it/s]
  7%|▋         | 2091/29585 [02:28<30:31, 15.01it/s]
  7%|▋         | 2093/29585 [02:28<30:35, 14.98it/s]
  7%|▋         | 2095/29585 [02:28<29:56, 15.30it/s]
  7%|▋         | 2097/29585 [02:28<29:51, 15.34it/s]
  7%|▋         | 2099/29585 [02:28<28:49, 15.90it/s]
  7%|▋         | 2101/29585 [02:28<30:25, 15.05it/s]
  7%|▋         | 2103/29585 [02:29<29:51, 15.34it/s]
  7%|▋         | 2105/29585 [02:29<29:02, 15.77it/s]
  7%|▋         | 2107/29585 [02:29<30:00, 15.26it/s]
  7%|▋         | 2109/29585 [02:29<29:06, 15.73it/s]
  7%|▋         | 2111/29585 [02:29<28:44, 15.93it/s]
  7%|▋         | 2114/29585 [02:29<27:04, 16.91it/s]
  7%|▋         | 2116/29585 [02:29<26:20, 17.38it/s]
  7%|▋         | 2118/29585 [02:29<25:53, 17.68it/s]
  7%|▋         | 2120/29585 [02:30<26:51, 17.04it/s]
  7%|▋         | 2122/29585 [02:30<28:18, 16.17it/s]
  7%|▋         | 2124/29585 [02:30<29:31, 15.50it/s]
  7%|▋         | 2126/29585 [02:30<29:25, 15.55it/s]
  7%|▋         | 2128/29585 [02:30<29:14, 15.65it/s]
  7%|▋         | 2131/29585 [02:30<27:41, 16.53it/s]
  7%|▋         | 2134/29585 [02:30<26:18, 17.39it/s]
  7%|▋         | 2136/29585 [02:31<28:33, 16.02it/s]
  7%|▋         | 2138/29585 [02:31<30:16, 15.11it/s]
  7%|▋         | 2140/29585 [02:31<29:58, 15.26it/s]
  7%|▋         | 2142/29585 [02:31<30:37, 14.94it/s]
  7%|▋         | 2144/29585 [02:31<32:27, 14.09it/s]
  7%|▋         | 2146/29585 [02:31<30:59, 14.76it/s]
  7%|▋         | 2148/29585 [02:31<29:48, 15.34it/s]
  7%|▋         | 2150/29585 [02:32<31:51, 14.36it/s]
  7%|▋         | 2152/29585 [02:32<31:28, 14.53it/s]
  7%|▋         | 2154/29585 [02:32<32:30, 14.06it/s]
  7%|▋         | 2156/29585 [02:32<33:10, 13.78it/s]
  7%|▋         | 2158/29585 [02:32<34:13, 13.36it/s]
  7%|▋         | 2160/29585 [02:32<32:45, 13.95it/s]
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  7%|▋         | 2164/29585 [02:33<33:06, 13.81it/s]
  7%|▋         | 2166/29585 [02:33<30:26, 15.01it/s]
  7%|▋         | 2168/29585 [02:33<29:45, 15.36it/s]
  7%|▋         | 2170/29585 [02:33<29:44, 15.36it/s]
  7%|▋         | 2172/29585 [02:33<30:11, 15.13it/s]
  7%|▋         | 2174/29585 [02:33<29:12, 15.64it/s]
  7%|▋         | 2176/29585 [02:33<30:08, 15.15it/s]
  7%|▋         | 2178/29585 [02:33<30:59, 14.74it/s]
  7%|▋         | 2180/29585 [02:34<30:14, 15.10it/s]
  7%|▋         | 2182/29585 [02:34<30:23, 15.03it/s]
  7%|▋         | 2184/29585 [02:34<30:13, 15.11it/s]
  7%|▋         | 2186/29585 [02:34<29:58, 15.23it/s]
  7%|▋         | 2188/29585 [02:34<30:42, 14.87it/s]
  7%|▋         | 2190/29585 [02:34<30:20, 15.04it/s]
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  7%|▋         | 2197/29585 [02:35<29:31, 15.46it/s]
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  7%|▋         | 2203/29585 [02:35<33:14, 13.73it/s]
  7%|▋         | 2205/29585 [02:35<31:13, 14.61it/s]
  7%|▋         | 2207/29585 [02:35<29:52, 15.27it/s]
  7%|▋         | 2209/29585 [02:35<28:45, 15.86it/s]
  7%|▋         | 2211/29585 [02:36<29:25, 15.51it/s]
  7%|▋         | 2213/29585 [02:36<30:51, 14.78it/s]
  7%|▋         | 2215/29585 [02:36<29:16, 15.58it/s]
  7%|▋         | 2217/29585 [02:36<29:40, 15.37it/s]
  8%|▊         | 2219/29585 [02:36<31:26, 14.51it/s]
  8%|▊         | 2221/29585 [02:36<31:56, 14.28it/s]
  8%|▊         | 2223/29585 [02:36<30:09, 15.12it/s]
  8%|▊         | 2225/29585 [02:37<29:39, 15.37it/s]
  8%|▊         | 2227/29585 [02:37<32:07, 14.19it/s]
  8%|▊         | 2229/29585 [02:37<32:11, 14.16it/s]
  8%|▊         | 2231/29585 [02:37<33:21, 13.67it/s]
  8%|▊         | 2233/29585 [02:37<30:57, 14.73it/s]
  8%|▊         | 2235/29585 [02:37<30:23, 15.00it/s]
  8%|▊         | 2237/29585 [02:37<31:57, 14.26it/s]
  8%|▊         | 2239/29585 [02:38<31:48, 14.33it/s]
  8%|▊         | 2241/29585 [02:38<34:36, 13.17it/s]
  8%|▊         | 2243/29585 [02:38<32:14, 14.14it/s]
  8%|▊         | 2245/29585 [02:38<30:53, 14.75it/s]
  8%|▊         | 2247/29585 [02:38<28:46, 15.84it/s]
  8%|▊         | 2249/29585 [02:38<28:10, 16.17it/s]
  8%|▊         | 2251/29585 [02:38<28:39, 15.89it/s]
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  9%|▉         | 2707/29585 [03:10<27:03, 16.56it/s]2026-03-15T18:55:25 - WARNING: Optimization failed for a frame: {ABNORMAL: }

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Track data saved to /working/d9a6a371-7a32-45ff-a037-f8042b39c69e/processing/data/alignment.track.json
 Writing PTD file in binary format...           Completed!
 PTD file is written to: /working/d9a6a371-7a32-45ff-a037-f8042b39c69e/processing/data/laser_aligned.ptd.dat