+ python -m profile_alignment --sonar --shape /working/shape.shp --write-shape /working/shape.json /working/3ecddea2-3c72-4796-adc4-976badee69d3/processing/data/laser.ptd.dat fit
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.25
Input file:  /working/3ecddea2-3c72-4796-adc4-976badee69d3/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 -=-=-=-=-=-=-
2026-03-15T18:39:58 - INFO:  Reading sonar track took 0.7165405750274658 sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
2026-03-15T18:39:59 - INFO: Reference shape is detected as CIRCLE, forcing rotation to zero
2026-03-15T18:39:59 - INFO:  Calculating the size for all frames

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2026-03-15T18:41:11 - INFO:  Median Scale of {200} frame found to be: {1.7263356265255738}
2026-03-15T18:41:11 - INFO: The selected reference shape JSON to: {/working/shape.json}
2026-03-15T18:41:11 - INFO:  Fit to reference shape: 

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  3%|▎         | 1664/48300 [02:10<56:03, 13.87it/s]
  3%|▎         | 1666/48300 [02:11<1:01:13, 12.69it/s]
  3%|▎         | 1668/48300 [02:11<59:41, 13.02it/s]  
  3%|▎         | 1670/48300 [02:11<59:49, 12.99it/s]
  3%|▎         | 1672/48300 [02:11<57:10, 13.59it/s]
  3%|▎         | 1674/48300 [02:11<55:21, 14.04it/s]
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  3%|▎         | 1678/48300 [02:12<58:25, 13.30it/s]
  3%|▎         | 1680/48300 [02:12<59:57, 12.96it/s]
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  3%|▎         | 1684/48300 [02:12<1:03:15, 12.28it/s]
  3%|▎         | 1686/48300 [02:12<1:02:25, 12.45it/s]
  3%|▎         | 1688/48300 [02:12<1:05:43, 11.82it/s]
  3%|▎         | 1690/48300 [02:12<58:19, 13.32it/s]  
  4%|▎         | 1692/48300 [02:13<56:54, 13.65it/s]
  4%|▎         | 1694/48300 [02:13<56:38, 13.72it/s]
  4%|▎         | 1696/48300 [02:13<58:55, 13.18it/s]
  4%|▎         | 1698/48300 [02:13<57:39, 13.47it/s]
  4%|▎         | 1700/48300 [02:13<58:59, 13.17it/s]
  4%|▎         | 1702/48300 [02:13<1:03:13, 12.28it/s]
  4%|▎         | 1704/48300 [02:14<1:16:10, 10.19it/s]
  4%|▎         | 1706/48300 [02:14<1:12:54, 10.65it/s]
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  4%|▎         | 1710/48300 [02:14<1:07:09, 11.56it/s]
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  4%|▎         | 1716/48300 [02:15<57:45, 13.44it/s]
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  4%|▎         | 1720/48300 [02:15<56:19, 13.78it/s]
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  4%|▎         | 1740/48300 [02:16<58:07, 13.35it/s]
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  4%|▎         | 1790/48300 [02:21<1:09:06, 11.22it/s]
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  4%|▎         | 1800/48300 [02:21<56:22, 13.75it/s]
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  4%|▍         | 1828/48300 [02:24<1:06:51, 11.58it/s]
  4%|▍         | 1830/48300 [02:24<1:06:58, 11.56it/s]
  4%|▍         | 1832/48300 [02:24<1:12:25, 10.69it/s]
  4%|▍         | 1834/48300 [02:24<1:11:33, 10.82it/s]
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  4%|▍         | 1838/48300 [02:24<1:02:37, 12.36it/s]
  4%|▍         | 1840/48300 [02:25<1:00:16, 12.85it/s]
  4%|▍         | 1842/48300 [02:25<1:02:41, 12.35it/s]
  4%|▍         | 1844/48300 [02:25<58:22, 13.26it/s]  
  4%|▍         | 1846/48300 [02:25<57:34, 13.45it/s]
  4%|▍         | 1848/48300 [02:25<55:43, 13.89it/s]
  4%|▍         | 1850/48300 [02:25<57:19, 13.51it/s]
  4%|▍         | 1852/48300 [02:26<58:11, 13.30it/s]
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  4%|▍         | 1858/48300 [02:26<55:16, 14.00it/s]
  4%|▍         | 1860/48300 [02:26<54:21, 14.24it/s]
  4%|▍         | 1862/48300 [02:26<54:10, 14.29it/s]
  4%|▍         | 1864/48300 [02:26<54:28, 14.21it/s]
  4%|▍         | 1866/48300 [02:27<57:39, 13.42it/s]
  4%|▍         | 1868/48300 [02:27<59:53, 12.92it/s]
  4%|▍         | 1870/48300 [02:27<1:02:23, 12.40it/s]
  4%|▍         | 1872/48300 [02:27<1:01:48, 12.52it/s]
  4%|▍         | 1874/48300 [02:27<1:05:38, 11.79it/s]
  4%|▍         | 1876/48300 [02:27<1:07:08, 11.52it/s]
  4%|▍         | 1878/48300 [02:28<1:00:38, 12.76it/s]
  4%|▍         | 1880/48300 [02:28<56:23, 13.72it/s]  
  4%|▍         | 1882/48300 [02:28<54:18, 14.24it/s]
  4%|▍         | 1884/48300 [02:28<52:47, 14.66it/s]
  4%|▍         | 1886/48300 [02:28<52:22, 14.77it/s]
  4%|▍         | 1888/48300 [02:28<51:07, 15.13it/s]
  4%|▍         | 1890/48300 [02:28<49:10, 15.73it/s]
  4%|▍         | 1892/48300 [02:28<50:18, 15.37it/s]
  4%|▍         | 1894/48300 [02:29<53:40, 14.41it/s]
  4%|▍         | 1896/48300 [02:29<57:43, 13.40it/s]
  4%|▍         | 1898/48300 [02:29<1:00:46, 12.73it/s]
  4%|▍         | 1900/48300 [02:29<1:02:22, 12.40it/s]
  4%|▍         | 1902/48300 [02:29<1:01:08, 12.65it/s]
  4%|▍         | 1904/48300 [02:29<1:04:01, 12.08it/s]
  4%|▍         | 1906/48300 [02:30<1:00:34, 12.76it/s]
  4%|▍         | 1908/48300 [02:30<59:45, 12.94it/s]  
  4%|▍         | 1910/48300 [02:30<1:03:11, 12.24it/s]
  4%|▍         | 1912/48300 [02:30<1:03:20, 12.20it/s]
  4%|▍         | 1914/48300 [02:30<1:06:33, 11.62it/s]
  4%|▍         | 1916/48300 [02:30<1:05:20, 11.83it/s]
  4%|▍         | 1918/48300 [02:31<1:15:57, 10.18it/s]
  4%|▍         | 1920/48300 [02:31<1:22:13,  9.40it/s]
  4%|▍         | 1922/48300 [02:31<1:12:11, 10.71it/s]
  4%|▍         | 1924/48300 [02:31<1:04:30, 11.98it/s]
  4%|▍         | 1926/48300 [02:31<59:14, 13.05it/s]  
  4%|▍         | 1928/48300 [02:31<58:10, 13.28it/s]
  4%|▍         | 1930/48300 [02:32<56:16, 13.73it/s]
  4%|▍         | 1932/48300 [02:32<54:38, 14.14it/s]
  4%|▍         | 1934/48300 [02:32<55:49, 13.84it/s]
  4%|▍         | 1936/48300 [02:32<54:27, 14.19it/s]
  4%|▍         | 1938/48300 [02:32<53:43, 14.38it/s]
  4%|▍         | 1940/48300 [02:32<54:36, 14.15it/s]
  4%|▍         | 1942/48300 [02:32<55:53, 13.82it/s]
  4%|▍         | 1944/48300 [02:33<51:35, 14.98it/s]
  4%|▍         | 1946/48300 [02:33<52:41, 14.66it/s]
  4%|▍         | 1948/48300 [02:33<53:19, 14.49it/s]
  4%|▍         | 1950/48300 [02:33<52:33, 14.70it/s]
  4%|▍         | 1952/48300 [02:33<55:11, 14.00it/s]
  4%|▍         | 1954/48300 [02:33<50:51, 15.19it/s]
  4%|▍         | 1956/48300 [02:33<49:58, 15.46it/s]
  4%|▍         | 1958/48300 [02:33<51:18, 15.05it/s]
  4%|▍         | 1960/48300 [02:34<53:57, 14.31it/s]
  4%|▍         | 1962/48300 [02:34<57:00, 13.55it/s]
  4%|▍         | 1964/48300 [02:34<56:52, 13.58it/s]
  4%|▍         | 1966/48300 [02:34<57:02, 13.54it/s]
  4%|▍         | 1968/48300 [02:34<1:00:37, 12.74it/s]
  4%|▍         | 1970/48300 [02:34<1:01:06, 12.64it/s]
  4%|▍         | 1972/48300 [02:35<59:47, 12.91it/s]  
  4%|▍         | 1974/48300 [02:35<1:01:08, 12.63it/s]
  4%|▍         | 1976/48300 [02:35<58:19, 13.24it/s]  
  4%|▍         | 1978/48300 [02:35<54:26, 14.18it/s]
  4%|▍         | 1980/48300 [02:35<59:20, 13.01it/s]
  4%|▍         | 1982/48300 [02:35<54:27, 14.18it/s]
  4%|▍         | 1984/48300 [02:35<50:12, 15.37it/s]
  4%|▍         | 1986/48300 [02:36<51:42, 14.93it/s]
  4%|▍         | 1988/48300 [02:36<53:20, 14.47it/s]
  4%|▍         | 1990/48300 [02:36<58:02, 13.30it/s]
  4%|▍         | 1992/48300 [02:36<56:36, 13.63it/s]
  4%|▍         | 1994/48300 [02:36<56:30, 13.66it/s]
  4%|▍         | 1996/48300 [02:36<1:05:13, 11.83it/s]
  4%|▍         | 1998/48300 [02:37<1:06:58, 11.52it/s]
  4%|▍         | 2000/48300 [02:37<1:07:10, 11.49it/s]
  4%|▍         | 2002/48300 [02:37<1:03:23, 12.17it/s]
  4%|▍         | 2004/48300 [02:37<57:37, 13.39it/s]  
  4%|▍         | 2006/48300 [02:37<58:36, 13.16it/s]
  4%|▍         | 2008/48300 [02:37<53:29, 14.42it/s]
  4%|▍         | 2010/48300 [02:37<52:50, 14.60it/s]
  4%|▍         | 2012/48300 [02:38<56:07, 13.75it/s]
  4%|▍         | 2014/48300 [02:38<1:00:23, 12.77it/s]
  4%|▍         | 2016/48300 [02:38<58:47, 13.12it/s]  
  4%|▍         | 2018/48300 [02:38<57:51, 13.33it/s]
  4%|▍         | 2020/48300 [02:38<59:37, 12.94it/s]
  4%|▍         | 2022/48300 [02:38<1:01:39, 12.51it/s]
  4%|▍         | 2024/48300 [02:39<1:02:45, 12.29it/s]
  4%|▍         | 2026/48300 [02:39<1:11:37, 10.77it/s]
  4%|▍         | 2028/48300 [02:39<1:06:48, 11.54it/s]
  4%|▍         | 2030/48300 [02:39<1:02:38, 12.31it/s]
  4%|▍         | 2032/48300 [02:39<58:26, 13.19it/s]  
  4%|▍         | 2034/48300 [02:39<1:00:08, 12.82it/s]
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  4%|▍         | 2050/48300 [02:41<1:10:11, 10.98it/s]
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  4%|▍         | 2064/48300 [02:42<1:09:31, 11.08it/s]
  4%|▍         | 2066/48300 [02:42<1:07:43, 11.38it/s]
  4%|▍         | 2068/48300 [02:42<1:06:48, 11.53it/s]
  4%|▍         | 2070/48300 [02:43<1:11:37, 10.76it/s]
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  4%|▍         | 2078/48300 [02:43<1:00:34, 12.72it/s]
  4%|▍         | 2080/48300 [02:43<56:55, 13.53it/s]  
  4%|▍         | 2082/48300 [02:43<54:40, 14.09it/s]
  4%|▍         | 2084/48300 [02:43<52:05, 14.79it/s]
  4%|▍         | 2086/48300 [02:44<56:21, 13.67it/s]
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  4%|▍         | 2090/48300 [02:44<58:44, 13.11it/s]
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  4%|▍         | 2098/48300 [02:45<59:03, 13.04it/s]  
  4%|▍         | 2100/48300 [02:45<59:44, 12.89it/s]
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  4%|▍         | 2126/48300 [02:47<55:25, 13.88it/s]
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  4%|▍         | 2138/48300 [02:48<54:34, 14.10it/s]
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  4%|▍         | 2160/48300 [02:49<1:03:00, 12.21it/s]
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  4%|▍         | 2166/48300 [02:50<1:05:40, 11.71it/s]
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  4%|▍         | 2170/48300 [02:50<56:04, 13.71it/s]
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  7%|▋         | 3489/48300 [04:30<54:29, 13.71it/s]2026-03-15T18:45:42 - WARNING: Optimization failed for a frame: {ABNORMAL: }

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  7%|▋         | 3571/48300 [04:37<53:18, 13.99it/s]
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  7%|▋         | 3593/48300 [04:39<54:32, 13.66it/s]2026-03-15T18:45:50 - WARNING: Optimization failed for a frame: {ABNORMAL: }

  7%|▋         | 3595/48300 [04:39<1:03:45, 11.69it/s]
  7%|▋         | 3597/48300 [04:39<1:08:34, 10.86it/s]
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Track data saved to /working/3ecddea2-3c72-4796-adc4-976badee69d3/processing/data/alignment.track.json
 Writing PTD file in binary format...           Completed!
 PTD file is written to: /working/3ecddea2-3c72-4796-adc4-976badee69d3/processing/data/laser_aligned.ptd.dat