+ basename /working/MDCP3D-SL-003_W029(6)_2026-03-06/calibration/debug/3_undistorted/output/ptd/1000
+ python -m profile_alignment --shape square /working/MDCP3D-SL-003_W029(6)_2026-03-06/calibration/debug/3_undistorted/output/ptd/1000/undistorted_frames.ptd.cbor fit
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.24
Input file:  /working/MDCP3D-SL-003_W029(6)_2026-03-06/calibration/debug/3_undistorted/output/ptd/1000/undistorted_frames.ptd.cbor
Add sonar points?:  True
Selected method:  fit
Shape to fit: /app/profile_alignment/ref_shapes/square.shp
Writing the selected reference shape: False
The output alignment extension: json
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
 Reading PTD file in cbor format...
 Completed!
=-=-=-=-=-Adding Sonar points -=-=-=-=-=-=-
2026-03-09T19:00:26 - INFO:  The Sonar track is not found in the data directory!
2026-03-09T19:00:26 - INFO:  Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  0%|          | 1/200 [00:00<00:34,  5.85it/s]
  1%|          | 2/200 [00:00<00:31,  6.37it/s]
  2%|▏         | 3/200 [00:00<00:31,  6.33it/s]
  2%|▏         | 4/200 [00:00<00:34,  5.65it/s]
  2%|▎         | 5/200 [00:00<00:32,  6.01it/s]
  3%|▎         | 6/200 [00:01<00:33,  5.71it/s]
  4%|▎         | 7/200 [00:01<00:30,  6.23it/s]
  4%|▍         | 8/200 [00:01<00:29,  6.50it/s]
  4%|▍         | 9/200 [00:01<00:31,  6.07it/s]
  5%|▌         | 10/200 [00:01<00:32,  5.93it/s]
  6%|▌         | 11/200 [00:01<00:31,  6.10it/s]
  6%|▌         | 12/200 [00:01<00:30,  6.23it/s]
  6%|▋         | 13/200 [00:02<00:29,  6.43it/s]
  7%|▋         | 14/200 [00:02<00:27,  6.75it/s]
  8%|▊         | 15/200 [00:02<00:26,  7.07it/s]
  8%|▊         | 16/200 [00:02<00:26,  6.92it/s]
  8%|▊         | 17/200 [00:02<00:27,  6.75it/s]
  9%|▉         | 18/200 [00:02<00:26,  6.85it/s]
 10%|▉         | 19/200 [00:02<00:26,  6.82it/s]
 10%|█         | 20/200 [00:03<00:27,  6.56it/s]
 10%|█         | 21/200 [00:03<00:26,  6.82it/s]
 11%|█         | 22/200 [00:03<00:29,  6.09it/s]
 12%|█▏        | 23/200 [00:03<00:31,  5.63it/s]
 12%|█▏        | 24/200 [00:03<00:32,  5.35it/s]
 12%|█▎        | 25/200 [00:04<00:30,  5.75it/s]
 13%|█▎        | 26/200 [00:04<00:30,  5.71it/s]
 14%|█▎        | 27/200 [00:04<00:33,  5.23it/s]
 14%|█▍        | 28/200 [00:04<00:32,  5.26it/s]
 14%|█▍        | 29/200 [00:04<00:32,  5.25it/s]
 15%|█▌        | 30/200 [00:05<00:32,  5.22it/s]
 16%|█▌        | 31/200 [00:05<00:30,  5.52it/s]
 16%|█▌        | 32/200 [00:05<00:28,  5.82it/s]
 16%|█▋        | 33/200 [00:05<00:28,  5.82it/s]
 17%|█▋        | 34/200 [00:05<00:28,  5.88it/s]
 18%|█▊        | 35/200 [00:05<00:29,  5.68it/s]
 18%|█▊        | 36/200 [00:06<00:29,  5.57it/s]
 18%|█▊        | 37/200 [00:06<00:28,  5.75it/s]
 19%|█▉        | 38/200 [00:06<00:28,  5.60it/s]
 20%|█▉        | 39/200 [00:06<00:28,  5.55it/s]
 20%|██        | 40/200 [00:06<00:29,  5.46it/s]
 20%|██        | 41/200 [00:06<00:28,  5.67it/s]
 21%|██        | 42/200 [00:07<00:26,  5.94it/s]
 22%|██▏       | 43/200 [00:07<00:26,  5.99it/s]
 22%|██▏       | 44/200 [00:07<00:28,  5.42it/s]
 22%|██▎       | 45/200 [00:07<00:28,  5.39it/s]
 23%|██▎       | 46/200 [00:07<00:27,  5.62it/s]
 24%|██▎       | 47/200 [00:08<00:28,  5.39it/s]
 24%|██▍       | 48/200 [00:08<00:31,  4.83it/s]
 24%|██▍       | 49/200 [00:08<00:28,  5.30it/s]
 25%|██▌       | 50/200 [00:08<00:27,  5.54it/s]
 26%|██▌       | 51/200 [00:08<00:26,  5.56it/s]
 26%|██▌       | 52/200 [00:08<00:25,  5.73it/s]
 26%|██▋       | 53/200 [00:09<00:26,  5.57it/s]
 27%|██▋       | 54/200 [00:09<00:25,  5.73it/s]
 28%|██▊       | 55/200 [00:09<00:24,  6.01it/s]
 28%|██▊       | 56/200 [00:09<00:23,  6.19it/s]
 28%|██▊       | 57/200 [00:09<00:22,  6.24it/s]
 29%|██▉       | 58/200 [00:09<00:23,  6.11it/s]
 30%|██▉       | 59/200 [00:10<00:22,  6.17it/s]
 30%|███       | 60/200 [00:10<00:23,  5.93it/s]
 30%|███       | 61/200 [00:10<00:23,  6.00it/s]
 31%|███       | 62/200 [00:10<00:22,  6.06it/s]
 32%|███▏      | 63/200 [00:10<00:21,  6.30it/s]
 32%|███▏      | 64/200 [00:10<00:21,  6.39it/s]
 32%|███▎      | 65/200 [00:11<00:21,  6.19it/s]
 33%|███▎      | 66/200 [00:11<00:22,  5.83it/s]
 34%|███▎      | 67/200 [00:11<00:22,  5.83it/s]
 34%|███▍      | 68/200 [00:11<00:21,  6.10it/s]
 34%|███▍      | 69/200 [00:11<00:22,  5.93it/s]
 35%|███▌      | 70/200 [00:11<00:20,  6.19it/s]
 36%|███▌      | 71/200 [00:12<00:21,  6.05it/s]
 36%|███▌      | 72/200 [00:12<00:21,  6.09it/s]
 36%|███▋      | 73/200 [00:12<00:21,  5.95it/s]
 37%|███▋      | 74/200 [00:12<00:20,  6.06it/s]
 38%|███▊      | 75/200 [00:12<00:20,  6.06it/s]
 38%|███▊      | 76/200 [00:12<00:23,  5.17it/s]
 38%|███▊      | 77/200 [00:13<00:23,  5.33it/s]
 39%|███▉      | 78/200 [00:13<00:22,  5.45it/s]
 40%|███▉      | 79/200 [00:13<00:21,  5.76it/s]
 40%|████      | 80/200 [00:13<00:20,  5.73it/s]
 40%|████      | 81/200 [00:13<00:19,  6.05it/s]
 41%|████      | 82/200 [00:13<00:17,  6.74it/s]
 42%|████▏     | 83/200 [00:14<00:17,  6.71it/s]
 42%|████▏     | 84/200 [00:14<00:16,  7.16it/s]
 42%|████▎     | 85/200 [00:14<00:16,  6.85it/s]
 43%|████▎     | 86/200 [00:14<00:18,  6.16it/s]
 44%|████▎     | 87/200 [00:14<00:18,  6.02it/s]
 44%|████▍     | 88/200 [00:14<00:17,  6.46it/s]
 44%|████▍     | 89/200 [00:15<00:18,  5.96it/s]
 45%|████▌     | 90/200 [00:15<00:20,  5.48it/s]
 46%|████▌     | 91/200 [00:15<00:21,  5.08it/s]
 46%|████▌     | 92/200 [00:15<00:19,  5.66it/s]
 46%|████▋     | 93/200 [00:15<00:19,  5.52it/s]
 47%|████▋     | 94/200 [00:15<00:18,  5.88it/s]
 48%|████▊     | 95/200 [00:16<00:18,  5.66it/s]
 48%|████▊     | 96/200 [00:16<00:18,  5.71it/s]
 48%|████▊     | 97/200 [00:16<00:16,  6.06it/s]
 49%|████▉     | 98/200 [00:16<00:17,  5.84it/s]
 50%|████▉     | 99/200 [00:16<00:16,  5.96it/s]
 50%|█████     | 100/200 [00:16<00:16,  6.24it/s]
 50%|█████     | 101/200 [00:17<00:14,  6.64it/s]
 51%|█████     | 102/200 [00:17<00:13,  7.01it/s]
 52%|█████▏    | 103/200 [00:17<00:13,  7.11it/s]
 52%|█████▏    | 104/200 [00:17<00:13,  7.15it/s]
 52%|█████▎    | 105/200 [00:17<00:13,  7.07it/s]
 53%|█████▎    | 106/200 [00:17<00:13,  7.00it/s]
 54%|█████▎    | 107/200 [00:17<00:13,  6.93it/s]
 54%|█████▍    | 108/200 [00:18<00:13,  6.57it/s]
 55%|█████▍    | 109/200 [00:18<00:13,  6.77it/s]
 55%|█████▌    | 110/200 [00:18<00:12,  6.97it/s]
 56%|█████▌    | 111/200 [00:18<00:14,  6.31it/s]
 56%|█████▌    | 112/200 [00:18<00:13,  6.49it/s]
 56%|█████▋    | 113/200 [00:18<00:13,  6.37it/s]
 57%|█████▋    | 114/200 [00:19<00:13,  6.15it/s]
 57%|█████▊    | 115/200 [00:19<00:13,  6.09it/s]
 58%|█████▊    | 116/200 [00:19<00:12,  6.60it/s]
 58%|█████▊    | 117/200 [00:19<00:12,  6.58it/s]
 59%|█████▉    | 118/200 [00:19<00:11,  7.11it/s]
 60%|█████▉    | 119/200 [00:19<00:11,  6.76it/s]
 60%|██████    | 120/200 [00:19<00:12,  6.48it/s]
 60%|██████    | 121/200 [00:20<00:13,  5.94it/s]
 61%|██████    | 122/200 [00:20<00:12,  6.11it/s]
 62%|██████▏   | 123/200 [00:20<00:11,  6.63it/s]
 62%|██████▏   | 124/200 [00:20<00:11,  6.72it/s]
 62%|██████▎   | 125/200 [00:20<00:10,  6.84it/s]
 63%|██████▎   | 126/200 [00:20<00:10,  6.81it/s]
 64%|██████▎   | 127/200 [00:20<00:11,  6.31it/s]
 64%|██████▍   | 128/200 [00:21<00:10,  6.67it/s]
 64%|██████▍   | 129/200 [00:21<00:10,  6.97it/s]
 65%|██████▌   | 130/200 [00:21<00:09,  7.15it/s]
 66%|██████▌   | 131/200 [00:21<00:10,  6.87it/s]
 66%|██████▌   | 132/200 [00:21<00:09,  7.26it/s]
 66%|██████▋   | 133/200 [00:21<00:09,  7.44it/s]
 67%|██████▋   | 134/200 [00:21<00:08,  7.41it/s]
 68%|██████▊   | 135/200 [00:22<00:09,  7.02it/s]
 68%|██████▊   | 136/200 [00:22<00:08,  7.51it/s]
 68%|██████▊   | 137/200 [00:22<00:08,  7.74it/s]
 69%|██████▉   | 138/200 [00:22<00:08,  7.49it/s]
 70%|██████▉   | 139/200 [00:22<00:07,  7.65it/s]
 70%|███████   | 140/200 [00:22<00:08,  7.39it/s]
 70%|███████   | 141/200 [00:22<00:08,  6.85it/s]
 71%|███████   | 142/200 [00:23<00:08,  6.96it/s]
 72%|███████▏  | 143/200 [00:23<00:08,  6.65it/s]
 72%|███████▏  | 144/200 [00:23<00:08,  6.60it/s]
 72%|███████▎  | 145/200 [00:23<00:08,  6.45it/s]
 73%|███████▎  | 146/200 [00:23<00:08,  6.53it/s]
 74%|███████▎  | 147/200 [00:23<00:08,  6.43it/s]
 74%|███████▍  | 148/200 [00:23<00:07,  6.69it/s]
 74%|███████▍  | 149/200 [00:24<00:07,  6.57it/s]
 75%|███████▌  | 150/200 [00:24<00:07,  6.71it/s]
 76%|███████▌  | 151/200 [00:24<00:07,  6.53it/s]
 76%|███████▌  | 152/200 [00:24<00:07,  6.32it/s]
 76%|███████▋  | 153/200 [00:24<00:07,  6.36it/s]
 77%|███████▋  | 154/200 [00:24<00:07,  6.34it/s]
 78%|███████▊  | 155/200 [00:25<00:07,  5.93it/s]
 78%|███████▊  | 156/200 [00:25<00:07,  6.03it/s]
 78%|███████▊  | 157/200 [00:25<00:07,  6.04it/s]
 79%|███████▉  | 158/200 [00:25<00:06,  6.13it/s]
 80%|███████▉  | 159/200 [00:25<00:07,  5.76it/s]
 80%|████████  | 160/200 [00:25<00:06,  5.95it/s]
 80%|████████  | 161/200 [00:26<00:06,  5.69it/s]
 81%|████████  | 162/200 [00:26<00:06,  5.74it/s]
 82%|████████▏ | 163/200 [00:26<00:07,  5.25it/s]
 82%|████████▏ | 164/200 [00:26<00:06,  5.60it/s]
 82%|████████▎ | 165/200 [00:26<00:05,  5.90it/s]
 83%|████████▎ | 166/200 [00:26<00:05,  5.99it/s]
 84%|████████▎ | 167/200 [00:27<00:06,  5.42it/s]
 84%|████████▍ | 168/200 [00:27<00:05,  5.63it/s]
 84%|████████▍ | 169/200 [00:27<00:05,  5.58it/s]
 85%|████████▌ | 170/200 [00:27<00:05,  5.61it/s]
 86%|████████▌ | 171/200 [00:27<00:05,  5.67it/s]
 86%|████████▌ | 172/200 [00:28<00:05,  5.46it/s]
 86%|████████▋ | 173/200 [00:28<00:04,  5.58it/s]
 87%|████████▋ | 174/200 [00:28<00:04,  5.57it/s]
 88%|████████▊ | 175/200 [00:28<00:04,  5.71it/s]
 88%|████████▊ | 176/200 [00:28<00:04,  5.80it/s]
 88%|████████▊ | 177/200 [00:28<00:03,  6.06it/s]
 89%|████████▉ | 178/200 [00:29<00:03,  5.74it/s]
 90%|████████▉ | 179/200 [00:29<00:03,  5.94it/s]
 90%|█████████ | 180/200 [00:29<00:03,  5.89it/s]
 90%|█████████ | 181/200 [00:29<00:03,  5.83it/s]
 91%|█████████ | 182/200 [00:29<00:03,  5.91it/s]
 92%|█████████▏| 183/200 [00:30<00:03,  5.46it/s]
 92%|█████████▏| 184/200 [00:30<00:02,  5.75it/s]
 92%|█████████▎| 185/200 [00:30<00:02,  5.71it/s]
 93%|█████████▎| 186/200 [00:30<00:02,  5.78it/s]
 94%|█████████▎| 187/200 [00:30<00:02,  5.63it/s]
 94%|█████████▍| 188/200 [00:30<00:02,  5.49it/s]
 94%|█████████▍| 189/200 [00:31<00:01,  5.71it/s]
 95%|█████████▌| 190/200 [00:31<00:01,  5.95it/s]
 96%|█████████▌| 191/200 [00:31<00:01,  6.22it/s]
 96%|█████████▌| 192/200 [00:31<00:01,  6.43it/s]
 96%|█████████▋| 193/200 [00:31<00:01,  6.49it/s]
 97%|█████████▋| 194/200 [00:31<00:00,  6.70it/s]
 98%|█████████▊| 195/200 [00:31<00:00,  6.86it/s]
 98%|█████████▊| 196/200 [00:32<00:00,  6.57it/s]
 98%|█████████▊| 197/200 [00:32<00:00,  7.07it/s]
 99%|█████████▉| 198/200 [00:32<00:00,  7.09it/s]
100%|█████████▉| 199/200 [00:32<00:00,  6.79it/s]
100%|██████████| 200/200 [00:32<00:00,  6.60it/s]
100%|██████████| 200/200 [00:32<00:00,  6.12it/s]
2026-03-09T19:00:58 - INFO:  Median Scale of {200} frame found to be: {1.0002033642156178}
2026-03-09T19:00:58 - INFO:  Fit to reference shape: 

  0%|          | 0/304 [00:00<?, ?it/s]
  1%|          | 2/304 [00:00<00:16, 18.31it/s]
  2%|▏         | 5/304 [00:00<00:16, 18.50it/s]
  2%|▏         | 7/304 [00:00<00:19, 15.37it/s]
  3%|▎         | 9/304 [00:00<00:20, 14.12it/s]
  4%|▎         | 11/304 [00:00<00:20, 14.54it/s]
  4%|▍         | 13/304 [00:00<00:18, 15.53it/s]
  5%|▌         | 16/304 [00:00<00:15, 18.14it/s]
  6%|▌         | 18/304 [00:01<00:15, 18.45it/s]
  7%|▋         | 20/304 [00:01<00:16, 17.22it/s]
  8%|▊         | 23/304 [00:01<00:16, 17.56it/s]
  8%|▊         | 25/304 [00:01<00:15, 17.89it/s]
  9%|▉         | 28/304 [00:01<00:15, 18.24it/s]
 10%|█         | 31/304 [00:01<00:13, 19.60it/s]
 11%|█         | 34/304 [00:01<00:13, 19.53it/s]
 12%|█▏        | 36/304 [00:02<00:16, 16.61it/s]
 12%|█▎        | 38/304 [00:02<00:16, 16.04it/s]
 13%|█▎        | 40/304 [00:02<00:17, 15.28it/s]
 14%|█▍        | 42/304 [00:02<00:19, 13.13it/s]
 14%|█▍        | 44/304 [00:02<00:20, 12.63it/s]
 15%|█▌        | 46/304 [00:02<00:18, 14.10it/s]
 16%|█▌        | 48/304 [00:03<00:20, 12.78it/s]
 16%|█▋        | 50/304 [00:03<00:18, 13.67it/s]
 17%|█▋        | 52/304 [00:03<00:19, 12.76it/s]
 18%|█▊        | 54/304 [00:03<00:20, 12.10it/s]
 18%|█▊        | 56/304 [00:03<00:18, 13.13it/s]
 19%|█▉        | 58/304 [00:03<00:17, 14.33it/s]
 20%|█▉        | 60/304 [00:03<00:16, 14.45it/s]
 21%|██        | 63/304 [00:04<00:14, 16.70it/s]
 21%|██▏       | 65/304 [00:04<00:13, 17.36it/s]
 22%|██▏       | 67/304 [00:04<00:13, 17.75it/s]
 23%|██▎       | 70/304 [00:04<00:12, 18.56it/s]
 24%|██▎       | 72/304 [00:04<00:12, 18.38it/s]
 24%|██▍       | 74/304 [00:04<00:12, 18.52it/s]
 25%|██▌       | 76/304 [00:04<00:12, 18.56it/s]
 26%|██▌       | 78/304 [00:04<00:12, 17.92it/s]
 27%|██▋       | 81/304 [00:05<00:12, 18.06it/s]
 27%|██▋       | 83/304 [00:05<00:12, 18.25it/s]
 28%|██▊       | 85/304 [00:05<00:12, 17.65it/s]
 29%|██▊       | 87/304 [00:05<00:12, 17.60it/s]
 29%|██▉       | 89/304 [00:05<00:11, 18.19it/s]
 30%|███       | 92/304 [00:05<00:10, 19.77it/s]
 31%|███▏      | 95/304 [00:05<00:10, 19.80it/s]
 32%|███▏      | 98/304 [00:05<00:09, 21.49it/s]
 33%|███▎      | 101/304 [00:05<00:09, 21.53it/s]
 34%|███▍      | 104/304 [00:06<00:08, 22.26it/s]
 35%|███▌      | 107/304 [00:06<00:08, 22.72it/s]
 36%|███▌      | 110/304 [00:06<00:08, 23.03it/s]
 37%|███▋      | 113/304 [00:06<00:08, 22.72it/s]
 38%|███▊      | 116/304 [00:06<00:08, 21.21it/s]
 39%|███▉      | 119/304 [00:06<00:08, 22.22it/s]
 40%|████      | 123/304 [00:06<00:07, 23.94it/s]
 41%|████▏     | 126/304 [00:07<00:07, 24.88it/s]
 42%|████▏     | 129/304 [00:07<00:07, 24.98it/s]
 43%|████▎     | 132/304 [00:07<00:07, 22.06it/s]
 44%|████▍     | 135/304 [00:07<00:07, 23.04it/s]
 45%|████▌     | 138/304 [00:07<00:06, 23.84it/s]
 46%|████▋     | 141/304 [00:07<00:06, 23.83it/s]
 47%|████▋     | 144/304 [00:07<00:06, 23.79it/s]
 48%|████▊     | 147/304 [00:08<00:07, 19.95it/s]
 49%|████▉     | 150/304 [00:08<00:08, 17.62it/s]
 50%|█████     | 152/304 [00:08<00:08, 17.89it/s]
 51%|█████     | 155/304 [00:08<00:07, 19.00it/s]
 52%|█████▏    | 158/304 [00:08<00:06, 21.38it/s]
 53%|█████▎    | 161/304 [00:08<00:06, 21.30it/s]
 54%|█████▍    | 164/304 [00:08<00:07, 19.99it/s]
 55%|█████▍    | 167/304 [00:09<00:07, 18.40it/s]
 56%|█████▌    | 170/304 [00:09<00:07, 18.41it/s]
 57%|█████▋    | 172/304 [00:09<00:07, 18.65it/s]
 57%|█████▋    | 174/304 [00:09<00:06, 18.65it/s]
 58%|█████▊    | 176/304 [00:09<00:06, 18.67it/s]
 59%|█████▊    | 178/304 [00:09<00:07, 17.11it/s]
 59%|█████▉    | 180/304 [00:09<00:07, 16.73it/s]
 60%|██████    | 183/304 [00:09<00:06, 18.09it/s]
 61%|██████    | 186/304 [00:10<00:06, 18.45it/s]
 62%|██████▏   | 188/304 [00:10<00:06, 17.93it/s]
 63%|██████▎   | 191/304 [00:10<00:05, 19.27it/s]
 64%|██████▍   | 194/304 [00:10<00:05, 18.88it/s]
 64%|██████▍   | 196/304 [00:10<00:06, 17.46it/s]
 65%|██████▌   | 198/304 [00:10<00:06, 17.40it/s]
 66%|██████▌   | 200/304 [00:10<00:06, 16.31it/s]
 66%|██████▋   | 202/304 [00:11<00:06, 15.95it/s]
 67%|██████▋   | 204/304 [00:11<00:06, 15.48it/s]
 68%|██████▊   | 207/304 [00:11<00:05, 17.75it/s]
 69%|██████▉   | 210/304 [00:11<00:04, 18.92it/s]
 70%|███████   | 213/304 [00:11<00:04, 21.35it/s]
 71%|███████   | 216/304 [00:11<00:03, 23.00it/s]
 72%|███████▏  | 219/304 [00:11<00:03, 23.13it/s]
 73%|███████▎  | 222/304 [00:12<00:03, 21.81it/s]
 74%|███████▍  | 226/304 [00:12<00:03, 23.04it/s]
 75%|███████▌  | 229/304 [00:12<00:03, 21.55it/s]
 76%|███████▋  | 232/304 [00:12<00:03, 21.42it/s]
 77%|███████▋  | 235/304 [00:12<00:03, 17.73it/s]
 78%|███████▊  | 237/304 [00:12<00:03, 16.99it/s]
 79%|███████▊  | 239/304 [00:12<00:03, 16.37it/s]
 79%|███████▉  | 241/304 [00:13<00:03, 16.34it/s]
 80%|███████▉  | 243/304 [00:13<00:03, 16.12it/s]
 81%|████████  | 245/304 [00:13<00:03, 16.12it/s]
 81%|████████▏ | 247/304 [00:13<00:03, 16.13it/s]
 82%|████████▏ | 249/304 [00:13<00:03, 15.96it/s]
 83%|████████▎ | 252/304 [00:13<00:02, 17.66it/s]
 84%|████████▎ | 254/304 [00:13<00:03, 16.36it/s]
 84%|████████▍ | 256/304 [00:14<00:03, 15.96it/s]
 85%|████████▍ | 258/304 [00:14<00:02, 16.58it/s]
 86%|████████▌ | 260/304 [00:14<00:02, 16.98it/s]
 86%|████████▌ | 262/304 [00:14<00:02, 16.82it/s]
 87%|████████▋ | 264/304 [00:14<00:02, 15.46it/s]
 88%|████████▊ | 266/304 [00:14<00:02, 16.42it/s]
 88%|████████▊ | 268/304 [00:14<00:02, 15.81it/s]
 89%|████████▉ | 270/304 [00:14<00:02, 16.01it/s]
 89%|████████▉ | 272/304 [00:15<00:02, 15.73it/s]
 90%|█████████ | 274/304 [00:15<00:01, 15.89it/s]
 91%|█████████ | 276/304 [00:15<00:01, 15.27it/s]
 92%|█████████▏| 279/304 [00:15<00:01, 16.68it/s]
 92%|█████████▏| 281/304 [00:15<00:01, 16.24it/s]
 93%|█████████▎| 283/304 [00:15<00:01, 17.09it/s]
 94%|█████████▍| 286/304 [00:15<00:01, 17.72it/s]
 95%|█████████▍| 288/304 [00:15<00:00, 16.45it/s]
 96%|█████████▌| 291/304 [00:16<00:00, 18.28it/s]
 97%|█████████▋| 294/304 [00:16<00:00, 19.59it/s]
 98%|█████████▊| 297/304 [00:16<00:00, 20.66it/s]
 99%|█████████▊| 300/304 [00:16<00:00, 18.75it/s]
 99%|█████████▉| 302/304 [00:16<00:00, 18.49it/s]
100%|██████████| 304/304 [00:16<00:00, 17.99it/s]
100%|██████████| 304/304 [00:16<00:00, 18.10it/s]
Track data saved to /working/MDCP3D-SL-003_W029(6)_2026-03-06/calibration/debug/3_undistorted/output/ptd/1000/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/MDCP3D-SL-003_W029(6)_2026-03-06/calibration/debug/3_undistorted/output/ptd/1000/laser_aligned.ptd.cbor
+ basename /working/MDCP3D-SL-003_W029(6)_2026-03-06/calibration/debug/3_undistorted/output/ptd/1500
+ python -m profile_alignment --shape square /working/MDCP3D-SL-003_W029(6)_2026-03-06/calibration/debug/3_undistorted/output/ptd/1500/undistorted_frames.ptd.cbor fit
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.24
Input file:  /working/MDCP3D-SL-003_W029(6)_2026-03-06/calibration/debug/3_undistorted/output/ptd/1500/undistorted_frames.ptd.cbor
Add sonar points?:  True
Selected method:  fit
Shape to fit: /app/profile_alignment/ref_shapes/square.shp
Writing the selected reference shape: False
The output alignment extension: json
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
 Reading PTD file in cbor format...
 Completed!
=-=-=-=-=-Adding Sonar points -=-=-=-=-=-=-
2026-03-09T19:01:20 - INFO:  The Sonar track is not found in the data directory!
2026-03-09T19:01:20 - INFO:  Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  0%|          | 1/200 [00:00<00:45,  4.37it/s]
  1%|          | 2/200 [00:00<00:33,  5.92it/s]
  2%|▏         | 3/200 [00:00<00:33,  5.87it/s]
  2%|▏         | 4/200 [00:00<00:35,  5.59it/s]
  2%|▎         | 5/200 [00:00<00:35,  5.52it/s]
  3%|▎         | 6/200 [00:01<00:39,  4.93it/s]
  4%|▎         | 7/200 [00:01<00:40,  4.75it/s]
  4%|▍         | 8/200 [00:01<00:39,  4.89it/s]
  4%|▍         | 9/200 [00:01<00:36,  5.20it/s]
  5%|▌         | 10/200 [00:01<00:34,  5.51it/s]
  6%|▌         | 11/200 [00:02<00:31,  5.93it/s]
  6%|▌         | 12/200 [00:02<00:30,  6.09it/s]
  6%|▋         | 13/200 [00:02<00:29,  6.40it/s]
  7%|▋         | 14/200 [00:02<00:32,  5.68it/s]
  8%|▊         | 15/200 [00:02<00:34,  5.38it/s]
  8%|▊         | 16/200 [00:02<00:34,  5.30it/s]
  8%|▊         | 17/200 [00:03<00:34,  5.31it/s]
  9%|▉         | 18/200 [00:03<00:40,  4.51it/s]
 10%|▉         | 19/200 [00:03<00:40,  4.46it/s]
 10%|█         | 20/200 [00:03<00:40,  4.43it/s]
 10%|█         | 21/200 [00:04<00:40,  4.44it/s]
 11%|█         | 22/200 [00:04<00:38,  4.59it/s]
 12%|█▏        | 23/200 [00:04<00:39,  4.53it/s]
 12%|█▏        | 24/200 [00:04<00:40,  4.39it/s]
 12%|█▎        | 25/200 [00:04<00:38,  4.53it/s]
 13%|█▎        | 26/200 [00:05<00:38,  4.52it/s]
 14%|█▎        | 27/200 [00:05<00:38,  4.54it/s]
 14%|█▍        | 28/200 [00:05<00:35,  4.84it/s]
 14%|█▍        | 29/200 [00:05<00:36,  4.74it/s]
 15%|█▌        | 30/200 [00:06<00:34,  4.91it/s]
 16%|█▌        | 31/200 [00:06<00:34,  4.88it/s]
 16%|█▌        | 32/200 [00:06<00:35,  4.70it/s]
 16%|█▋        | 33/200 [00:06<00:35,  4.73it/s]
 17%|█▋        | 34/200 [00:07<00:41,  3.98it/s]
 18%|█▊        | 35/200 [00:07<00:40,  4.11it/s]
 18%|█▊        | 36/200 [00:07<00:38,  4.23it/s]
 18%|█▊        | 37/200 [00:07<00:43,  3.71it/s]
 19%|█▉        | 38/200 [00:08<00:43,  3.74it/s]
 20%|█▉        | 39/200 [00:08<00:42,  3.80it/s]
 20%|██        | 40/200 [00:08<00:38,  4.17it/s]
 20%|██        | 41/200 [00:08<00:36,  4.40it/s]
 21%|██        | 42/200 [00:08<00:35,  4.43it/s]
 22%|██▏       | 43/200 [00:09<00:34,  4.56it/s]
 22%|██▏       | 44/200 [00:09<00:39,  3.94it/s]
 22%|██▎       | 45/200 [00:09<00:39,  3.92it/s]
 23%|██▎       | 46/200 [00:09<00:37,  4.12it/s]
 24%|██▎       | 47/200 [00:10<00:36,  4.19it/s]
 24%|██▍       | 48/200 [00:10<00:34,  4.45it/s]
 24%|██▍       | 49/200 [00:10<00:32,  4.65it/s]
 25%|██▌       | 50/200 [00:10<00:31,  4.84it/s]
 26%|██▌       | 51/200 [00:10<00:29,  5.09it/s]
 26%|██▌       | 52/200 [00:11<00:29,  4.99it/s]
 26%|██▋       | 53/200 [00:11<00:29,  5.03it/s]
 27%|██▋       | 54/200 [00:11<00:28,  5.11it/s]
 28%|██▊       | 55/200 [00:11<00:28,  5.05it/s]
 28%|██▊       | 56/200 [00:11<00:27,  5.18it/s]
 28%|██▊       | 57/200 [00:12<00:29,  4.90it/s]
 29%|██▉       | 58/200 [00:12<00:27,  5.10it/s]
 30%|██▉       | 59/200 [00:12<00:27,  5.11it/s]
 30%|███       | 60/200 [00:12<00:28,  4.98it/s]
 30%|███       | 61/200 [00:12<00:28,  4.88it/s]
 31%|███       | 62/200 [00:13<00:31,  4.40it/s]
 32%|███▏      | 63/200 [00:13<00:30,  4.47it/s]
 32%|███▏      | 64/200 [00:13<00:29,  4.61it/s]
 32%|███▎      | 65/200 [00:13<00:29,  4.58it/s]
 33%|███▎      | 66/200 [00:14<00:27,  4.87it/s]
 34%|███▎      | 67/200 [00:14<00:26,  4.97it/s]
 34%|███▍      | 68/200 [00:14<00:25,  5.14it/s]
 34%|███▍      | 69/200 [00:14<00:25,  5.15it/s]
 35%|███▌      | 70/200 [00:14<00:24,  5.21it/s]
 36%|███▌      | 71/200 [00:14<00:25,  5.11it/s]
 36%|███▌      | 72/200 [00:15<00:22,  5.57it/s]
 36%|███▋      | 73/200 [00:15<00:21,  5.97it/s]
 37%|███▋      | 74/200 [00:15<00:19,  6.42it/s]
 38%|███▊      | 75/200 [00:15<00:19,  6.34it/s]
 38%|███▊      | 76/200 [00:15<00:20,  5.94it/s]
 38%|███▊      | 77/200 [00:15<00:19,  6.25it/s]
 39%|███▉      | 78/200 [00:16<00:18,  6.52it/s]
 40%|███▉      | 79/200 [00:16<00:18,  6.40it/s]
 40%|████      | 80/200 [00:16<00:18,  6.35it/s]
 40%|████      | 81/200 [00:16<00:19,  6.02it/s]
 41%|████      | 82/200 [00:16<00:18,  6.25it/s]
 42%|████▏     | 83/200 [00:16<00:18,  6.45it/s]
 42%|████▏     | 84/200 [00:16<00:18,  6.22it/s]
 42%|████▎     | 85/200 [00:17<00:17,  6.50it/s]
 43%|████▎     | 86/200 [00:17<00:17,  6.43it/s]
 44%|████▎     | 87/200 [00:17<00:17,  6.37it/s]
 44%|████▍     | 88/200 [00:17<00:17,  6.40it/s]
 44%|████▍     | 89/200 [00:17<00:16,  6.69it/s]
 45%|████▌     | 90/200 [00:17<00:17,  6.41it/s]
 46%|████▌     | 91/200 [00:18<00:16,  6.58it/s]
 46%|████▌     | 92/200 [00:18<00:15,  6.80it/s]
 46%|████▋     | 93/200 [00:18<00:15,  6.87it/s]
 47%|████▋     | 94/200 [00:18<00:15,  6.96it/s]
 48%|████▊     | 95/200 [00:18<00:17,  6.12it/s]
 48%|████▊     | 96/200 [00:18<00:16,  6.15it/s]
 48%|████▊     | 97/200 [00:19<00:17,  5.95it/s]
 49%|████▉     | 98/200 [00:19<00:17,  5.82it/s]
 50%|████▉     | 99/200 [00:19<00:17,  5.82it/s]
 50%|█████     | 100/200 [00:19<00:17,  5.85it/s]
 50%|█████     | 101/200 [00:19<00:16,  6.10it/s]
 51%|█████     | 102/200 [00:19<00:15,  6.28it/s]
 52%|█████▏    | 103/200 [00:19<00:14,  6.55it/s]
 52%|█████▏    | 104/200 [00:20<00:13,  6.91it/s]
 52%|█████▎    | 105/200 [00:20<00:14,  6.60it/s]
 53%|█████▎    | 106/200 [00:20<00:14,  6.60it/s]
 54%|█████▎    | 107/200 [00:20<00:14,  6.61it/s]
 54%|█████▍    | 108/200 [00:20<00:14,  6.46it/s]
 55%|█████▍    | 109/200 [00:20<00:13,  6.67it/s]
 55%|█████▌    | 110/200 [00:20<00:12,  7.07it/s]
 56%|█████▌    | 111/200 [00:21<00:12,  7.39it/s]
 56%|█████▌    | 112/200 [00:21<00:11,  7.35it/s]
 56%|█████▋    | 113/200 [00:21<00:12,  7.20it/s]
 57%|█████▋    | 114/200 [00:21<00:11,  7.28it/s]
 57%|█████▊    | 115/200 [00:21<00:12,  6.99it/s]
 58%|█████▊    | 116/200 [00:21<00:11,  7.03it/s]
 58%|█████▊    | 117/200 [00:21<00:11,  7.12it/s]
 59%|█████▉    | 118/200 [00:22<00:11,  7.33it/s]
 60%|█████▉    | 119/200 [00:22<00:11,  7.18it/s]
 60%|██████    | 120/200 [00:22<00:11,  7.12it/s]
 60%|██████    | 121/200 [00:22<00:11,  6.79it/s]
 61%|██████    | 122/200 [00:22<00:10,  7.14it/s]
 62%|██████▏   | 123/200 [00:22<00:10,  7.39it/s]
 62%|██████▏   | 124/200 [00:22<00:10,  7.59it/s]
 62%|██████▎   | 125/200 [00:23<00:10,  7.08it/s]
 63%|██████▎   | 126/200 [00:23<00:10,  6.88it/s]
 64%|██████▎   | 127/200 [00:23<00:11,  6.26it/s]
 64%|██████▍   | 128/200 [00:23<00:10,  6.57it/s]
 64%|██████▍   | 129/200 [00:23<00:10,  6.55it/s]
 65%|██████▌   | 130/200 [00:23<00:10,  6.72it/s]
 66%|██████▌   | 131/200 [00:23<00:10,  6.72it/s]
 66%|██████▌   | 132/200 [00:24<00:10,  6.73it/s]
 66%|██████▋   | 133/200 [00:24<00:09,  6.94it/s]
 67%|██████▋   | 134/200 [00:24<00:10,  6.44it/s]
 68%|██████▊   | 135/200 [00:24<00:09,  6.67it/s]
 68%|██████▊   | 136/200 [00:24<00:09,  6.72it/s]
 68%|██████▊   | 137/200 [00:24<00:09,  6.77it/s]
 69%|██████▉   | 138/200 [00:25<00:09,  6.82it/s]
 70%|██████▉   | 139/200 [00:25<00:09,  6.49it/s]
 70%|███████   | 140/200 [00:25<00:09,  6.41it/s]
 70%|███████   | 141/200 [00:25<00:09,  6.39it/s]
 71%|███████   | 142/200 [00:25<00:09,  6.28it/s]
 72%|███████▏  | 143/200 [00:25<00:08,  6.36it/s]
 72%|███████▏  | 144/200 [00:25<00:08,  6.60it/s]
 72%|███████▎  | 145/200 [00:26<00:08,  6.18it/s]
 73%|███████▎  | 146/200 [00:26<00:08,  6.43it/s]
 74%|███████▎  | 147/200 [00:26<00:08,  6.42it/s]
 74%|███████▍  | 148/200 [00:26<00:07,  6.61it/s]
 74%|███████▍  | 149/200 [00:26<00:07,  6.85it/s]
 75%|███████▌  | 150/200 [00:26<00:07,  6.75it/s]
 76%|███████▌  | 151/200 [00:27<00:07,  6.31it/s]
 76%|███████▌  | 152/200 [00:27<00:08,  5.96it/s]
 76%|███████▋  | 153/200 [00:27<00:07,  6.06it/s]
 77%|███████▋  | 154/200 [00:27<00:08,  5.61it/s]
 78%|███████▊  | 155/200 [00:27<00:08,  5.61it/s]
 78%|███████▊  | 156/200 [00:27<00:07,  5.67it/s]
 78%|███████▊  | 157/200 [00:28<00:07,  6.03it/s]
 79%|███████▉  | 158/200 [00:28<00:06,  6.11it/s]
 80%|███████▉  | 159/200 [00:28<00:06,  5.98it/s]
 80%|████████  | 160/200 [00:28<00:06,  5.90it/s]
 80%|████████  | 161/200 [00:28<00:07,  5.30it/s]
 81%|████████  | 162/200 [00:29<00:06,  5.56it/s]
 82%|████████▏ | 163/200 [00:29<00:07,  5.24it/s]
 82%|████████▏ | 164/200 [00:29<00:08,  4.34it/s]
 82%|████████▎ | 165/200 [00:29<00:07,  4.71it/s]
 83%|████████▎ | 166/200 [00:29<00:07,  4.77it/s]
 84%|████████▎ | 167/200 [00:30<00:06,  5.00it/s]
 84%|████████▍ | 168/200 [00:30<00:06,  4.85it/s]
 84%|████████▍ | 169/200 [00:30<00:06,  5.00it/s]
 85%|████████▌ | 170/200 [00:30<00:05,  5.10it/s]
 86%|████████▌ | 171/200 [00:30<00:05,  5.18it/s]
 86%|████████▌ | 172/200 [00:31<00:05,  5.14it/s]
 86%|████████▋ | 173/200 [00:31<00:05,  5.25it/s]
 87%|████████▋ | 174/200 [00:31<00:04,  5.51it/s]
 88%|████████▊ | 175/200 [00:31<00:04,  5.23it/s]
 88%|████████▊ | 176/200 [00:31<00:04,  5.26it/s]
 88%|████████▊ | 177/200 [00:31<00:04,  5.47it/s]
 89%|████████▉ | 178/200 [00:32<00:04,  5.46it/s]
 90%|████████▉ | 179/200 [00:32<00:03,  5.67it/s]
 90%|█████████ | 180/200 [00:32<00:03,  5.13it/s]
 90%|█████████ | 181/200 [00:32<00:03,  5.11it/s]
 91%|█████████ | 182/200 [00:32<00:03,  4.92it/s]
 92%|█████████▏| 183/200 [00:33<00:03,  4.86it/s]
 92%|█████████▏| 184/200 [00:33<00:03,  4.29it/s]
 92%|█████████▎| 185/200 [00:33<00:03,  4.41it/s]
 93%|█████████▎| 186/200 [00:33<00:03,  4.43it/s]
 94%|█████████▎| 187/200 [00:34<00:02,  4.54it/s]
 94%|█████████▍| 188/200 [00:34<00:02,  4.67it/s]
 94%|█████████▍| 189/200 [00:34<00:02,  4.75it/s]
 95%|█████████▌| 190/200 [00:34<00:01,  5.28it/s]
 96%|█████████▌| 191/200 [00:34<00:01,  5.16it/s]
 96%|█████████▌| 192/200 [00:35<00:01,  5.18it/s]
 96%|█████████▋| 193/200 [00:35<00:01,  5.07it/s]
 97%|█████████▋| 194/200 [00:35<00:01,  5.42it/s]
 98%|█████████▊| 195/200 [00:35<00:00,  5.77it/s]
 98%|█████████▊| 196/200 [00:35<00:00,  6.42it/s]
 98%|█████████▊| 197/200 [00:35<00:00,  6.60it/s]
 99%|█████████▉| 198/200 [00:35<00:00,  6.74it/s]
100%|█████████▉| 199/200 [00:36<00:00,  6.55it/s]
100%|██████████| 200/200 [00:36<00:00,  6.54it/s]
100%|██████████| 200/200 [00:36<00:00,  5.51it/s]
2026-03-09T19:01:56 - INFO:  Median Scale of {200} frame found to be: {1.4995658587947966}
2026-03-09T19:01:56 - INFO:  Fit to reference shape: 

  0%|          | 0/410 [00:00<?, ?it/s]
  0%|          | 2/410 [00:00<00:25, 16.20it/s]
  1%|          | 4/410 [00:00<00:24, 16.28it/s]
  2%|▏         | 7/410 [00:00<00:23, 17.32it/s]
  2%|▏         | 9/410 [00:00<00:23, 16.74it/s]
  3%|▎         | 11/410 [00:00<00:25, 15.46it/s]
  3%|▎         | 13/410 [00:00<00:25, 15.82it/s]
  4%|▎         | 15/410 [00:00<00:23, 16.85it/s]
  4%|▍         | 17/410 [00:01<00:24, 16.13it/s]
  5%|▍         | 19/410 [00:01<00:24, 15.95it/s]
  5%|▌         | 21/410 [00:01<00:23, 16.66it/s]
  6%|▌         | 23/410 [00:01<00:22, 17.05it/s]
  6%|▌         | 25/410 [00:01<00:22, 16.87it/s]
  7%|▋         | 27/410 [00:01<00:25, 14.92it/s]
  7%|▋         | 29/410 [00:01<00:24, 15.74it/s]
  8%|▊         | 31/410 [00:01<00:25, 15.02it/s]
  8%|▊         | 33/410 [00:02<00:26, 14.21it/s]
  9%|▊         | 35/410 [00:02<00:29, 12.67it/s]
  9%|▉         | 37/410 [00:02<00:27, 13.47it/s]
 10%|▉         | 39/410 [00:02<00:26, 14.13it/s]
 10%|█         | 41/410 [00:02<00:24, 15.30it/s]
 10%|█         | 43/410 [00:02<00:23, 15.54it/s]
 11%|█         | 45/410 [00:03<00:29, 12.25it/s]
 11%|█▏        | 47/410 [00:03<00:29, 12.32it/s]
 12%|█▏        | 49/410 [00:03<00:28, 12.46it/s]
 12%|█▏        | 51/410 [00:03<00:26, 13.78it/s]
 13%|█▎        | 53/410 [00:03<00:25, 13.92it/s]
 13%|█▎        | 55/410 [00:03<00:26, 13.43it/s]
 14%|█▍        | 58/410 [00:03<00:24, 14.50it/s]
 15%|█▍        | 60/410 [00:04<00:23, 14.88it/s]
 15%|█▌        | 62/410 [00:04<00:24, 14.24it/s]
 16%|█▌        | 64/410 [00:04<00:26, 13.23it/s]
 16%|█▋        | 67/410 [00:04<00:21, 16.15it/s]
 17%|█▋        | 70/410 [00:04<00:18, 18.39it/s]
 18%|█▊        | 73/410 [00:04<00:17, 18.82it/s]
 19%|█▊        | 76/410 [00:04<00:16, 20.43it/s]
 19%|█▉        | 79/410 [00:05<00:15, 21.18it/s]
 20%|██        | 82/410 [00:05<00:15, 21.36it/s]
 21%|██        | 85/410 [00:05<00:16, 19.59it/s]
 21%|██▏       | 88/410 [00:05<00:17, 18.92it/s]
 22%|██▏       | 90/410 [00:05<00:16, 18.98it/s]
 22%|██▏       | 92/410 [00:05<00:16, 19.09it/s]
 23%|██▎       | 94/410 [00:05<00:16, 18.64it/s]
 23%|██▎       | 96/410 [00:05<00:16, 18.61it/s]
 24%|██▍       | 99/410 [00:06<00:15, 20.44it/s]
 25%|██▍       | 102/410 [00:06<00:14, 20.89it/s]
 26%|██▌       | 105/410 [00:06<00:14, 20.75it/s]
 26%|██▋       | 108/410 [00:06<00:15, 19.20it/s]
 27%|██▋       | 111/410 [00:06<00:15, 19.31it/s]
 28%|██▊       | 113/410 [00:06<00:15, 19.14it/s]
 28%|██▊       | 115/410 [00:06<00:15, 18.57it/s]
 29%|██▊       | 117/410 [00:07<00:16, 17.97it/s]
 29%|██▉       | 119/410 [00:07<00:16, 18.15it/s]
 30%|██▉       | 121/410 [00:07<00:19, 15.04it/s]
 30%|███       | 123/410 [00:07<00:18, 15.79it/s]
 30%|███       | 125/410 [00:07<00:17, 16.39it/s]
 31%|███       | 128/410 [00:07<00:15, 18.61it/s]
 32%|███▏      | 131/410 [00:07<00:14, 19.35it/s]
 33%|███▎      | 134/410 [00:08<00:14, 18.48it/s]
 33%|███▎      | 136/410 [00:08<00:15, 17.99it/s]
 34%|███▍      | 139/410 [00:08<00:13, 20.12it/s]
 35%|███▍      | 142/410 [00:08<00:13, 20.57it/s]
 35%|███▌      | 145/410 [00:08<00:12, 20.69it/s]
 36%|███▌      | 148/410 [00:08<00:12, 21.34it/s]
 37%|███▋      | 151/410 [00:08<00:11, 22.02it/s]
 38%|███▊      | 154/410 [00:08<00:11, 23.25it/s]
 38%|███▊      | 157/410 [00:09<00:10, 23.68it/s]
 39%|███▉      | 160/410 [00:09<00:10, 24.56it/s]
 40%|███▉      | 163/410 [00:09<00:10, 24.31it/s]
 40%|████      | 166/410 [00:09<00:10, 23.36it/s]
 41%|████      | 169/410 [00:09<00:10, 23.53it/s]
 42%|████▏     | 172/410 [00:09<00:09, 24.04it/s]
 43%|████▎     | 175/410 [00:09<00:10, 21.59it/s]
 43%|████▎     | 178/410 [00:09<00:10, 22.02it/s]
 44%|████▍     | 181/410 [00:10<00:10, 22.51it/s]
 45%|████▍     | 184/410 [00:10<00:09, 22.79it/s]
 46%|████▌     | 187/410 [00:10<00:09, 24.39it/s]
 46%|████▋     | 190/410 [00:10<00:08, 25.12it/s]
 47%|████▋     | 193/410 [00:10<00:08, 25.31it/s]
 48%|████▊     | 196/410 [00:10<00:08, 24.26it/s]
 49%|████▊     | 199/410 [00:10<00:08, 23.56it/s]
 49%|████▉     | 202/410 [00:10<00:08, 24.82it/s]
 50%|█████     | 205/410 [00:11<00:09, 20.75it/s]
 51%|█████     | 208/410 [00:11<00:09, 20.62it/s]
 51%|█████▏    | 211/410 [00:11<00:09, 21.31it/s]
 52%|█████▏    | 214/410 [00:11<00:10, 17.86it/s]
 53%|█████▎    | 217/410 [00:11<00:09, 19.53it/s]
 54%|█████▎    | 220/410 [00:11<00:09, 21.03it/s]
 54%|█████▍    | 223/410 [00:11<00:08, 22.68it/s]
 55%|█████▌    | 226/410 [00:12<00:09, 19.37it/s]
 56%|█████▌    | 229/410 [00:12<00:09, 18.89it/s]
 57%|█████▋    | 232/410 [00:12<00:09, 19.04it/s]
 57%|█████▋    | 234/410 [00:12<00:09, 18.99it/s]
 58%|█████▊    | 237/410 [00:12<00:08, 20.12it/s]
 59%|█████▊    | 240/410 [00:12<00:08, 20.20it/s]
 59%|█████▉    | 243/410 [00:13<00:08, 20.69it/s]
 60%|██████    | 246/410 [00:13<00:08, 20.21it/s]
 61%|██████    | 249/410 [00:13<00:07, 21.61it/s]
 61%|██████▏   | 252/410 [00:13<00:07, 21.19it/s]
 62%|██████▏   | 255/410 [00:13<00:07, 21.67it/s]
 63%|██████▎   | 258/410 [00:13<00:06, 22.11it/s]
 64%|██████▎   | 261/410 [00:13<00:06, 21.72it/s]
 64%|██████▍   | 264/410 [00:13<00:06, 23.26it/s]
 65%|██████▌   | 267/410 [00:14<00:06, 21.04it/s]
 66%|██████▌   | 270/410 [00:14<00:06, 20.92it/s]
 67%|██████▋   | 273/410 [00:14<00:06, 21.60it/s]
 67%|██████▋   | 276/410 [00:14<00:06, 20.89it/s]
 68%|██████▊   | 279/410 [00:14<00:05, 22.21it/s]
 69%|██████▉   | 282/410 [00:14<00:05, 21.89it/s]
 70%|██████▉   | 285/410 [00:14<00:05, 23.21it/s]
 70%|███████   | 288/410 [00:15<00:05, 23.61it/s]
 71%|███████   | 291/410 [00:15<00:05, 23.01it/s]
 72%|███████▏  | 294/410 [00:15<00:05, 20.77it/s]
 72%|███████▏  | 297/410 [00:15<00:05, 19.94it/s]
 73%|███████▎  | 300/410 [00:15<00:05, 20.18it/s]
 74%|███████▍  | 303/410 [00:15<00:04, 21.94it/s]
 75%|███████▍  | 306/410 [00:15<00:04, 23.75it/s]
 75%|███████▌  | 309/410 [00:15<00:04, 24.28it/s]
 76%|███████▌  | 312/410 [00:16<00:03, 25.09it/s]
 77%|███████▋  | 315/410 [00:16<00:03, 25.49it/s]
 78%|███████▊  | 318/410 [00:16<00:03, 24.39it/s]
 78%|███████▊  | 321/410 [00:16<00:03, 23.78it/s]
 79%|███████▉  | 324/410 [00:16<00:03, 23.52it/s]
 80%|███████▉  | 327/410 [00:16<00:03, 21.32it/s]
 80%|████████  | 330/410 [00:16<00:04, 19.43it/s]
 81%|████████  | 333/410 [00:17<00:04, 18.23it/s]
 82%|████████▏ | 335/410 [00:17<00:04, 17.90it/s]
 82%|████████▏ | 338/410 [00:17<00:03, 18.98it/s]
 83%|████████▎ | 340/410 [00:17<00:03, 18.88it/s]
 83%|████████▎ | 342/410 [00:17<00:03, 18.58it/s]
 84%|████████▍ | 344/410 [00:17<00:03, 17.75it/s]
 84%|████████▍ | 346/410 [00:17<00:03, 17.30it/s]
 85%|████████▌ | 349/410 [00:18<00:03, 19.03it/s]
 86%|████████▌ | 352/410 [00:18<00:02, 20.82it/s]
 87%|████████▋ | 355/410 [00:18<00:02, 19.84it/s]
 87%|████████▋ | 358/410 [00:18<00:02, 18.98it/s]
 88%|████████▊ | 360/410 [00:18<00:02, 18.64it/s]
 88%|████████▊ | 362/410 [00:18<00:02, 16.82it/s]
 89%|████████▉ | 364/410 [00:18<00:02, 16.06it/s]
 90%|████████▉ | 367/410 [00:19<00:02, 17.87it/s]
 90%|█████████ | 369/410 [00:19<00:02, 17.74it/s]
 90%|█████████ | 371/410 [00:19<00:02, 16.48it/s]
 91%|█████████ | 373/410 [00:19<00:02, 15.24it/s]
 91%|█████████▏| 375/410 [00:19<00:02, 15.16it/s]
 92%|█████████▏| 377/410 [00:19<00:02, 15.45it/s]
 92%|█████████▏| 379/410 [00:19<00:02, 14.67it/s]
 93%|█████████▎| 381/410 [00:19<00:01, 14.74it/s]
 93%|█████████▎| 383/410 [00:20<00:01, 15.01it/s]
 94%|█████████▍| 385/410 [00:20<00:01, 15.77it/s]
 94%|█████████▍| 387/410 [00:20<00:01, 15.76it/s]
 95%|█████████▍| 389/410 [00:20<00:01, 15.69it/s]
 95%|█████████▌| 391/410 [00:20<00:01, 15.78it/s]
 96%|█████████▌| 393/410 [00:20<00:01, 14.89it/s]
 96%|█████████▋| 395/410 [00:20<00:01, 14.87it/s]
 97%|█████████▋| 397/410 [00:21<00:00, 14.57it/s]
 97%|█████████▋| 399/410 [00:21<00:00, 14.48it/s]
 98%|█████████▊| 401/410 [00:21<00:00, 13.89it/s]
 98%|█████████▊| 403/410 [00:21<00:00, 15.05it/s]
 99%|█████████▉| 405/410 [00:21<00:00, 14.86it/s]
 99%|█████████▉| 407/410 [00:21<00:00, 14.65it/s]
100%|█████████▉| 409/410 [00:21<00:00, 15.14it/s]
100%|██████████| 410/410 [00:21<00:00, 18.75it/s]
Track data saved to /working/MDCP3D-SL-003_W029(6)_2026-03-06/calibration/debug/3_undistorted/output/ptd/1500/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/MDCP3D-SL-003_W029(6)_2026-03-06/calibration/debug/3_undistorted/output/ptd/1500/laser_aligned.ptd.cbor
+ basename /working/MDCP3D-SL-003_W029(6)_2026-03-06/calibration/debug/3_undistorted/output/ptd/2000L
+ python -m profile_alignment --shape square /working/MDCP3D-SL-003_W029(6)_2026-03-06/calibration/debug/3_undistorted/output/ptd/2000L/undistorted_frames.ptd.cbor fit
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.24
Input file:  /working/MDCP3D-SL-003_W029(6)_2026-03-06/calibration/debug/3_undistorted/output/ptd/2000L/undistorted_frames.ptd.cbor
Add sonar points?:  True
Selected method:  fit
Shape to fit: /app/profile_alignment/ref_shapes/square.shp
Writing the selected reference shape: False
The output alignment extension: json
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
 Reading PTD file in cbor format...
 Completed!
=-=-=-=-=-Adding Sonar points -=-=-=-=-=-=-
2026-03-09T19:02:24 - INFO:  The Sonar track is not found in the data directory!
2026-03-09T19:02:24 - INFO:  Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  0%|          | 1/200 [00:00<00:32,  6.12it/s]
  1%|          | 2/200 [00:00<00:33,  5.91it/s]
  2%|▏         | 3/200 [00:00<00:30,  6.42it/s]
  2%|▏         | 4/200 [00:00<00:32,  6.02it/s]
  2%|▎         | 5/200 [00:00<00:31,  6.28it/s]
  3%|▎         | 6/200 [00:00<00:33,  5.84it/s]
  4%|▎         | 7/200 [00:01<00:34,  5.55it/s]
  4%|▍         | 8/200 [00:01<00:32,  6.00it/s]
  4%|▍         | 9/200 [00:01<00:31,  6.13it/s]
  5%|▌         | 10/200 [00:01<00:30,  6.18it/s]
  6%|▌         | 11/200 [00:01<00:30,  6.16it/s]
  6%|▌         | 12/200 [00:01<00:28,  6.51it/s]
  6%|▋         | 13/200 [00:02<00:27,  6.68it/s]
  7%|▋         | 14/200 [00:02<00:30,  6.02it/s]
  8%|▊         | 15/200 [00:02<00:28,  6.41it/s]
  8%|▊         | 16/200 [00:02<00:28,  6.56it/s]
  8%|▊         | 17/200 [00:02<00:28,  6.39it/s]
  9%|▉         | 18/200 [00:02<00:30,  6.00it/s]
 10%|▉         | 19/200 [00:03<00:32,  5.50it/s]
 10%|█         | 20/200 [00:03<00:34,  5.25it/s]
 10%|█         | 21/200 [00:03<00:34,  5.25it/s]
 11%|█         | 22/200 [00:03<00:33,  5.24it/s]
 12%|█▏        | 23/200 [00:03<00:33,  5.34it/s]
 12%|█▏        | 24/200 [00:04<00:33,  5.25it/s]
 12%|█▎        | 25/200 [00:04<00:34,  5.05it/s]
 13%|█▎        | 26/200 [00:04<00:34,  5.00it/s]
 14%|█▎        | 27/200 [00:04<00:35,  4.91it/s]
 14%|█▍        | 28/200 [00:05<00:38,  4.45it/s]
 14%|█▍        | 29/200 [00:05<00:36,  4.64it/s]
 15%|█▌        | 30/200 [00:05<00:37,  4.58it/s]
 16%|█▌        | 31/200 [00:05<00:37,  4.55it/s]
 16%|█▌        | 32/200 [00:05<00:40,  4.12it/s]
 16%|█▋        | 33/200 [00:06<00:40,  4.11it/s]
 17%|█▋        | 34/200 [00:06<00:44,  3.75it/s]
 18%|█▊        | 35/200 [00:06<00:45,  3.65it/s]
 18%|█▊        | 36/200 [00:07<00:45,  3.60it/s]
 18%|█▊        | 37/200 [00:07<00:44,  3.65it/s]
 19%|█▉        | 38/200 [00:07<00:45,  3.58it/s]
 20%|█▉        | 39/200 [00:07<00:43,  3.70it/s]
 20%|██        | 40/200 [00:08<00:49,  3.26it/s]
 20%|██        | 41/200 [00:08<00:47,  3.37it/s]
 21%|██        | 42/200 [00:08<00:46,  3.41it/s]
 22%|██▏       | 43/200 [00:09<00:47,  3.33it/s]
 22%|██▏       | 44/200 [00:09<00:47,  3.28it/s]
 22%|██▎       | 45/200 [00:09<00:46,  3.34it/s]
 23%|██▎       | 46/200 [00:09<00:42,  3.64it/s]
 24%|██▎       | 47/200 [00:10<00:43,  3.49it/s]
 24%|██▍       | 48/200 [00:10<00:42,  3.60it/s]
 24%|██▍       | 49/200 [00:10<00:38,  3.88it/s]
 25%|██▌       | 50/200 [00:11<00:39,  3.81it/s]
 26%|██▌       | 51/200 [00:11<00:39,  3.76it/s]
 26%|██▌       | 52/200 [00:11<00:36,  4.00it/s]
 26%|██▋       | 53/200 [00:11<00:34,  4.26it/s]
 27%|██▋       | 54/200 [00:11<00:33,  4.32it/s]
 28%|██▊       | 55/200 [00:12<00:37,  3.91it/s]
 28%|██▊       | 56/200 [00:12<00:35,  4.10it/s]
 28%|██▊       | 57/200 [00:12<00:34,  4.20it/s]
 29%|██▉       | 58/200 [00:12<00:34,  4.16it/s]
 30%|██▉       | 59/200 [00:13<00:33,  4.19it/s]
 30%|███       | 60/200 [00:13<00:33,  4.14it/s]
 30%|███       | 61/200 [00:13<00:36,  3.84it/s]
 31%|███       | 62/200 [00:14<00:36,  3.79it/s]
 32%|███▏      | 63/200 [00:14<00:36,  3.80it/s]
 32%|███▏      | 64/200 [00:14<00:34,  3.99it/s]
 32%|███▎      | 65/200 [00:14<00:32,  4.09it/s]
 33%|███▎      | 66/200 [00:14<00:31,  4.19it/s]
 34%|███▎      | 67/200 [00:15<00:32,  4.07it/s]
 34%|███▍      | 68/200 [00:15<00:32,  4.01it/s]
 34%|███▍      | 69/200 [00:15<00:32,  4.08it/s]
 35%|███▌      | 70/200 [00:15<00:32,  3.99it/s]
 36%|███▌      | 71/200 [00:16<00:33,  3.86it/s]
 36%|███▌      | 72/200 [00:16<00:30,  4.21it/s]
 36%|███▋      | 73/200 [00:16<00:29,  4.27it/s]
 37%|███▋      | 74/200 [00:16<00:28,  4.45it/s]
 38%|███▊      | 75/200 [00:17<00:26,  4.68it/s]
 38%|███▊      | 76/200 [00:17<00:26,  4.77it/s]
 38%|███▊      | 77/200 [00:17<00:27,  4.50it/s]
 39%|███▉      | 78/200 [00:17<00:26,  4.60it/s]
 40%|███▉      | 79/200 [00:17<00:27,  4.40it/s]
 40%|████      | 80/200 [00:18<00:25,  4.64it/s]
 40%|████      | 81/200 [00:18<00:25,  4.69it/s]
 41%|████      | 82/200 [00:18<00:25,  4.62it/s]
 42%|████▏     | 83/200 [00:18<00:25,  4.56it/s]
 42%|████▏     | 84/200 [00:19<00:25,  4.46it/s]
 42%|████▎     | 85/200 [00:19<00:24,  4.70it/s]
 43%|████▎     | 86/200 [00:19<00:23,  4.84it/s]
 44%|████▎     | 87/200 [00:19<00:22,  5.01it/s]
 44%|████▍     | 88/200 [00:19<00:22,  5.05it/s]
 44%|████▍     | 89/200 [00:19<00:21,  5.08it/s]
 45%|████▌     | 90/200 [00:20<00:21,  5.10it/s]
 46%|████▌     | 91/200 [00:20<00:22,  4.94it/s]
 46%|████▌     | 92/200 [00:20<00:21,  4.95it/s]
 46%|████▋     | 93/200 [00:20<00:21,  5.05it/s]
 47%|████▋     | 94/200 [00:21<00:21,  4.85it/s]
 48%|████▊     | 95/200 [00:21<00:21,  4.92it/s]
 48%|████▊     | 96/200 [00:21<00:20,  5.15it/s]
 48%|████▊     | 97/200 [00:21<00:21,  4.85it/s]
 49%|████▉     | 98/200 [00:21<00:22,  4.63it/s]
 50%|████▉     | 99/200 [00:22<00:20,  4.86it/s]
 50%|█████     | 100/200 [00:22<00:20,  4.86it/s]
 50%|█████     | 101/200 [00:22<00:19,  5.00it/s]
 51%|█████     | 102/200 [00:22<00:19,  4.95it/s]
 52%|█████▏    | 103/200 [00:22<00:19,  4.87it/s]
 52%|█████▏    | 104/200 [00:23<00:18,  5.13it/s]
 52%|█████▎    | 105/200 [00:23<00:18,  5.28it/s]
 53%|█████▎    | 106/200 [00:23<00:18,  5.16it/s]
 54%|█████▎    | 107/200 [00:23<00:18,  4.96it/s]
 54%|█████▍    | 108/200 [00:23<00:18,  5.03it/s]
 55%|█████▍    | 109/200 [00:24<00:17,  5.09it/s]
 55%|█████▌    | 110/200 [00:24<00:17,  5.21it/s]
 56%|█████▌    | 111/200 [00:24<00:16,  5.55it/s]
 56%|█████▌    | 112/200 [00:24<00:15,  5.81it/s]
 56%|█████▋    | 113/200 [00:24<00:14,  5.91it/s]
 57%|█████▋    | 114/200 [00:24<00:15,  5.71it/s]
 57%|█████▊    | 115/200 [00:25<00:14,  5.79it/s]
 58%|█████▊    | 116/200 [00:25<00:14,  5.87it/s]
 58%|█████▊    | 117/200 [00:25<00:15,  5.47it/s]
 59%|█████▉    | 118/200 [00:25<00:15,  5.37it/s]
 60%|█████▉    | 119/200 [00:25<00:15,  5.11it/s]
 60%|██████    | 120/200 [00:26<00:16,  4.86it/s]
 60%|██████    | 121/200 [00:26<00:15,  5.09it/s]
 61%|██████    | 122/200 [00:26<00:14,  5.22it/s]
 62%|██████▏   | 123/200 [00:26<00:14,  5.31it/s]
 62%|██████▏   | 124/200 [00:26<00:13,  5.44it/s]
 62%|██████▎   | 125/200 [00:26<00:14,  5.25it/s]
 63%|██████▎   | 126/200 [00:27<00:14,  5.14it/s]
 64%|██████▎   | 127/200 [00:27<00:15,  4.67it/s]
 64%|██████▍   | 128/200 [00:27<00:14,  4.87it/s]
 64%|██████▍   | 129/200 [00:27<00:13,  5.26it/s]
 65%|██████▌   | 130/200 [00:27<00:12,  5.39it/s]
 66%|██████▌   | 131/200 [00:28<00:12,  5.54it/s]
 66%|██████▌   | 132/200 [00:28<00:12,  5.23it/s]
 66%|██████▋   | 133/200 [00:28<00:11,  5.64it/s]
 67%|██████▋   | 134/200 [00:28<00:11,  5.91it/s]
 68%|██████▊   | 135/200 [00:28<00:11,  5.53it/s]
 68%|██████▊   | 136/200 [00:28<00:11,  5.57it/s]
 68%|██████▊   | 137/200 [00:29<00:10,  5.90it/s]
 69%|██████▉   | 138/200 [00:29<00:10,  5.86it/s]
 70%|██████▉   | 139/200 [00:29<00:10,  5.84it/s]
 70%|███████   | 140/200 [00:29<00:10,  5.78it/s]
 70%|███████   | 141/200 [00:29<00:10,  5.90it/s]
 71%|███████   | 142/200 [00:29<00:09,  6.05it/s]
 72%|███████▏  | 143/200 [00:30<00:09,  5.98it/s]
 72%|███████▏  | 144/200 [00:30<00:09,  5.79it/s]
 72%|███████▎  | 145/200 [00:30<00:09,  5.68it/s]
 73%|███████▎  | 146/200 [00:30<00:09,  5.78it/s]
 74%|███████▎  | 147/200 [00:30<00:09,  5.84it/s]
 74%|███████▍  | 148/200 [00:31<00:08,  5.91it/s]
 74%|███████▍  | 149/200 [00:31<00:08,  5.79it/s]
 75%|███████▌  | 150/200 [00:31<00:08,  5.62it/s]
 76%|███████▌  | 151/200 [00:31<00:08,  5.53it/s]
 76%|███████▌  | 152/200 [00:31<00:08,  5.88it/s]
 76%|███████▋  | 153/200 [00:31<00:08,  5.78it/s]
 77%|███████▋  | 154/200 [00:32<00:07,  5.85it/s]
 78%|███████▊  | 155/200 [00:32<00:07,  5.86it/s]
 78%|███████▊  | 156/200 [00:32<00:07,  5.72it/s]
 78%|███████▊  | 157/200 [00:32<00:07,  5.51it/s]
 79%|███████▉  | 158/200 [00:32<00:07,  5.52it/s]
 80%|███████▉  | 159/200 [00:32<00:07,  5.65it/s]
 80%|████████  | 160/200 [00:33<00:06,  5.82it/s]
 80%|████████  | 161/200 [00:33<00:06,  5.95it/s]
 81%|████████  | 162/200 [00:33<00:06,  5.98it/s]
 82%|████████▏ | 163/200 [00:33<00:06,  6.08it/s]
 82%|████████▏ | 164/200 [00:33<00:05,  6.16it/s]
 82%|████████▎ | 165/200 [00:33<00:05,  6.10it/s]
 83%|████████▎ | 166/200 [00:34<00:05,  6.29it/s]
 84%|████████▎ | 167/200 [00:34<00:05,  6.40it/s]
 84%|████████▍ | 168/200 [00:34<00:05,  6.34it/s]
 84%|████████▍ | 169/200 [00:34<00:04,  6.38it/s]
 85%|████████▌ | 170/200 [00:34<00:05,  5.08it/s]
 86%|████████▌ | 171/200 [00:34<00:05,  5.39it/s]
 86%|████████▌ | 172/200 [00:35<00:04,  5.76it/s]
 86%|████████▋ | 173/200 [00:35<00:04,  5.44it/s]
 87%|████████▋ | 174/200 [00:35<00:04,  5.59it/s]
 88%|████████▊ | 175/200 [00:35<00:04,  5.95it/s]
 88%|████████▊ | 176/200 [00:35<00:03,  6.43it/s]
 88%|████████▊ | 177/200 [00:35<00:03,  6.74it/s]
 89%|████████▉ | 178/200 [00:36<00:03,  6.87it/s]
 90%|████████▉ | 179/200 [00:36<00:02,  7.08it/s]
 90%|█████████ | 180/200 [00:36<00:02,  7.27it/s]
 90%|█████████ | 181/200 [00:36<00:02,  6.73it/s]
 91%|█████████ | 182/200 [00:36<00:02,  6.83it/s]
 92%|█████████▏| 183/200 [00:36<00:02,  6.91it/s]
 92%|█████████▏| 184/200 [00:36<00:02,  7.44it/s]
 92%|█████████▎| 185/200 [00:37<00:02,  7.02it/s]
 93%|█████████▎| 186/200 [00:37<00:01,  7.14it/s]
 94%|█████████▎| 187/200 [00:37<00:01,  7.28it/s]
 94%|█████████▍| 188/200 [00:37<00:01,  7.09it/s]
 94%|█████████▍| 189/200 [00:37<00:01,  6.97it/s]
 95%|█████████▌| 190/200 [00:37<00:01,  6.66it/s]
 96%|█████████▌| 191/200 [00:37<00:01,  6.47it/s]
 96%|█████████▌| 192/200 [00:38<00:01,  6.89it/s]
 96%|█████████▋| 193/200 [00:38<00:01,  6.96it/s]
 97%|█████████▋| 194/200 [00:38<00:00,  7.21it/s]
 98%|█████████▊| 195/200 [00:38<00:00,  7.28it/s]
 98%|█████████▊| 196/200 [00:38<00:00,  7.33it/s]
 98%|█████████▊| 197/200 [00:38<00:00,  7.08it/s]
 99%|█████████▉| 198/200 [00:38<00:00,  6.81it/s]
100%|█████████▉| 199/200 [00:39<00:00,  6.94it/s]
100%|██████████| 200/200 [00:39<00:00,  6.88it/s]
100%|██████████| 200/200 [00:39<00:00,  5.10it/s]
2026-03-09T19:03:03 - INFO:  Median Scale of {200} frame found to be: {1.9990395244425154}
2026-03-09T19:03:03 - INFO:  Fit to reference shape: 

  0%|          | 0/388 [00:00<?, ?it/s]
  1%|          | 2/388 [00:00<00:30, 12.52it/s]
  1%|          | 4/388 [00:00<00:24, 15.77it/s]
  2%|▏         | 6/388 [00:00<00:27, 14.02it/s]
  2%|▏         | 9/388 [00:00<00:21, 17.78it/s]
  3%|▎         | 11/388 [00:00<00:21, 17.88it/s]
  3%|▎         | 13/388 [00:00<00:24, 15.40it/s]
  4%|▍         | 16/388 [00:00<00:22, 16.24it/s]
  5%|▍         | 18/388 [00:01<00:21, 16.96it/s]
  5%|▌         | 21/388 [00:01<00:22, 16.33it/s]
  6%|▌         | 23/388 [00:01<00:22, 16.50it/s]
  6%|▋         | 25/388 [00:01<00:22, 16.27it/s]
  7%|▋         | 27/388 [00:01<00:22, 15.85it/s]
  8%|▊         | 30/388 [00:01<00:20, 17.43it/s]
  8%|▊         | 32/388 [00:01<00:21, 16.80it/s]
  9%|▉         | 34/388 [00:02<00:20, 16.95it/s]
 10%|▉         | 37/388 [00:02<00:19, 18.15it/s]
 10%|█         | 40/388 [00:02<00:18, 18.70it/s]
 11%|█         | 42/388 [00:02<00:18, 18.60it/s]
 11%|█▏        | 44/388 [00:02<00:20, 17.13it/s]
 12%|█▏        | 46/388 [00:02<00:20, 16.77it/s]
 12%|█▏        | 48/388 [00:02<00:21, 15.87it/s]
 13%|█▎        | 50/388 [00:03<00:22, 15.04it/s]
 13%|█▎        | 52/388 [00:03<00:22, 15.18it/s]
 14%|█▍        | 54/388 [00:03<00:20, 16.00it/s]
 15%|█▍        | 57/388 [00:03<00:18, 17.65it/s]
 15%|█▌        | 60/388 [00:03<00:18, 18.01it/s]
 16%|█▌        | 62/388 [00:03<00:18, 17.83it/s]
 16%|█▋        | 64/388 [00:03<00:18, 17.82it/s]
 17%|█▋        | 66/388 [00:03<00:19, 16.78it/s]
 18%|█▊        | 68/388 [00:04<00:18, 16.90it/s]
 18%|█▊        | 70/388 [00:04<00:19, 16.56it/s]
 19%|█▊        | 72/388 [00:04<00:19, 16.51it/s]
 19%|█▉        | 74/388 [00:04<00:18, 16.64it/s]
 20%|█▉        | 76/388 [00:04<00:18, 16.50it/s]
 20%|██        | 78/388 [00:04<00:18, 16.41it/s]
 21%|██        | 80/388 [00:04<00:17, 17.33it/s]
 21%|██        | 82/388 [00:04<00:18, 16.19it/s]
 22%|██▏       | 84/388 [00:05<00:19, 15.41it/s]
 22%|██▏       | 86/388 [00:05<00:20, 14.68it/s]
 23%|██▎       | 88/388 [00:05<00:19, 15.46it/s]
 23%|██▎       | 90/388 [00:05<00:20, 14.84it/s]
 24%|██▎       | 92/388 [00:05<00:19, 14.93it/s]
 24%|██▍       | 94/388 [00:05<00:19, 15.08it/s]
 25%|██▍       | 96/388 [00:05<00:18, 16.16it/s]
 26%|██▌       | 99/388 [00:05<00:15, 18.18it/s]
 26%|██▌       | 101/388 [00:06<00:15, 18.29it/s]
 27%|██▋       | 103/388 [00:06<00:15, 18.30it/s]
 27%|██▋       | 105/388 [00:06<00:16, 17.50it/s]
 28%|██▊       | 107/388 [00:06<00:15, 18.09it/s]
 28%|██▊       | 109/388 [00:06<00:15, 18.17it/s]
 29%|██▉       | 112/388 [00:06<00:14, 18.81it/s]
 29%|██▉       | 114/388 [00:06<00:15, 17.52it/s]
 30%|██▉       | 116/388 [00:06<00:16, 16.48it/s]
 30%|███       | 118/388 [00:07<00:16, 16.27it/s]
 31%|███       | 121/388 [00:07<00:16, 16.51it/s]
 32%|███▏      | 123/388 [00:07<00:15, 16.91it/s]
 32%|███▏      | 125/388 [00:07<00:14, 17.65it/s]
 33%|███▎      | 127/388 [00:07<00:16, 16.21it/s]
 33%|███▎      | 129/388 [00:07<00:15, 16.32it/s]
 34%|███▍      | 131/388 [00:07<00:15, 16.53it/s]
 35%|███▍      | 134/388 [00:08<00:14, 17.39it/s]
 35%|███▌      | 136/388 [00:08<00:14, 16.93it/s]
 36%|███▌      | 138/388 [00:08<00:14, 17.41it/s]
 36%|███▌      | 140/388 [00:08<00:14, 16.92it/s]
 37%|███▋      | 142/388 [00:08<00:15, 16.28it/s]
 37%|███▋      | 144/388 [00:08<00:14, 16.60it/s]
 38%|███▊      | 146/388 [00:08<00:15, 15.31it/s]
 38%|███▊      | 149/388 [00:08<00:13, 17.56it/s]
 39%|███▉      | 151/388 [00:09<00:14, 16.70it/s]
 39%|███▉      | 153/388 [00:09<00:14, 16.48it/s]
 40%|███▉      | 155/388 [00:09<00:14, 16.21it/s]
 41%|████      | 158/388 [00:09<00:13, 17.42it/s]
 41%|████      | 160/388 [00:09<00:14, 15.83it/s]
 42%|████▏     | 162/388 [00:09<00:14, 15.39it/s]
 42%|████▏     | 164/388 [00:09<00:14, 15.34it/s]
 43%|████▎     | 166/388 [00:09<00:14, 15.53it/s]
 43%|████▎     | 168/388 [00:10<00:13, 15.87it/s]
 44%|████▍     | 170/388 [00:10<00:12, 16.80it/s]
 44%|████▍     | 172/388 [00:10<00:13, 16.00it/s]
 45%|████▍     | 174/388 [00:10<00:14, 15.09it/s]
 46%|████▌     | 177/388 [00:10<00:12, 16.30it/s]
 46%|████▌     | 179/388 [00:10<00:12, 16.95it/s]
 47%|████▋     | 181/388 [00:10<00:12, 16.98it/s]
 47%|████▋     | 183/388 [00:11<00:12, 16.00it/s]
 48%|████▊     | 186/388 [00:11<00:11, 18.34it/s]
 48%|████▊     | 188/388 [00:11<00:10, 18.22it/s]
 49%|████▉     | 190/388 [00:11<00:10, 18.39it/s]
 50%|████▉     | 193/388 [00:11<00:09, 20.22it/s]
 51%|█████     | 196/388 [00:11<00:09, 20.13it/s]
 51%|█████▏    | 199/388 [00:11<00:08, 21.31it/s]
 52%|█████▏    | 202/388 [00:11<00:09, 19.63it/s]
 53%|█████▎    | 205/388 [00:12<00:09, 20.01it/s]
 54%|█████▎    | 208/388 [00:12<00:10, 17.45it/s]
 54%|█████▍    | 210/388 [00:12<00:10, 17.38it/s]
 55%|█████▍    | 212/388 [00:12<00:10, 17.04it/s]
 55%|█████▌    | 215/388 [00:12<00:09, 18.65it/s]
 56%|█████▌    | 217/388 [00:12<00:10, 16.67it/s]
 57%|█████▋    | 220/388 [00:12<00:08, 18.80it/s]
 57%|█████▋    | 223/388 [00:13<00:07, 20.79it/s]
 58%|█████▊    | 226/388 [00:13<00:07, 21.23it/s]
 59%|█████▉    | 229/388 [00:13<00:07, 22.60it/s]
 60%|█████▉    | 232/388 [00:13<00:06, 22.35it/s]
 61%|██████    | 235/388 [00:13<00:06, 22.25it/s]
 61%|██████▏   | 238/388 [00:13<00:07, 19.19it/s]
 62%|██████▏   | 241/388 [00:13<00:07, 20.05it/s]
 63%|██████▎   | 244/388 [00:14<00:07, 19.36it/s]
 64%|██████▎   | 247/388 [00:14<00:06, 20.45it/s]
 64%|██████▍   | 250/388 [00:14<00:07, 19.57it/s]
 65%|██████▌   | 253/388 [00:14<00:06, 20.92it/s]
 66%|██████▌   | 256/388 [00:14<00:06, 21.39it/s]
 67%|██████▋   | 259/388 [00:14<00:06, 21.05it/s]
 68%|██████▊   | 262/388 [00:14<00:06, 19.96it/s]
 68%|██████▊   | 265/388 [00:15<00:06, 18.90it/s]
 69%|██████▉   | 267/388 [00:15<00:06, 18.33it/s]
 69%|██████▉   | 269/388 [00:15<00:07, 16.47it/s]
 70%|██████▉   | 271/388 [00:15<00:07, 15.68it/s]
 70%|███████   | 273/388 [00:15<00:07, 15.67it/s]
 71%|███████   | 275/388 [00:15<00:07, 14.93it/s]
 71%|███████▏  | 277/388 [00:15<00:07, 15.68it/s]
 72%|███████▏  | 279/388 [00:16<00:06, 15.95it/s]
 72%|███████▏  | 281/388 [00:16<00:06, 15.85it/s]
 73%|███████▎  | 283/388 [00:16<00:06, 16.14it/s]
 74%|███████▎  | 286/388 [00:16<00:05, 17.82it/s]
 74%|███████▍  | 289/388 [00:16<00:05, 18.04it/s]
 75%|███████▌  | 291/388 [00:16<00:05, 17.38it/s]
 76%|███████▌  | 294/388 [00:16<00:05, 17.83it/s]
 77%|███████▋  | 297/388 [00:17<00:04, 18.71it/s]
 77%|███████▋  | 299/388 [00:17<00:04, 18.21it/s]
 78%|███████▊  | 301/388 [00:17<00:05, 16.21it/s]
 78%|███████▊  | 304/388 [00:17<00:04, 17.82it/s]
 79%|███████▉  | 307/388 [00:17<00:04, 18.99it/s]
 80%|███████▉  | 309/388 [00:17<00:04, 17.62it/s]
 80%|████████  | 312/388 [00:17<00:03, 19.50it/s]
 81%|████████  | 315/388 [00:18<00:03, 20.73it/s]
 82%|████████▏ | 318/388 [00:18<00:03, 21.43it/s]
 83%|████████▎ | 321/388 [00:18<00:03, 20.70it/s]
 84%|████████▎ | 324/388 [00:18<00:03, 20.15it/s]
 84%|████████▍ | 327/388 [00:18<00:03, 18.85it/s]
 85%|████████▍ | 329/388 [00:18<00:03, 19.01it/s]
 85%|████████▌ | 331/388 [00:18<00:03, 18.58it/s]
 86%|████████▌ | 334/388 [00:19<00:02, 18.07it/s]
 87%|████████▋ | 336/388 [00:19<00:02, 17.93it/s]
 87%|████████▋ | 338/388 [00:19<00:02, 18.06it/s]
 88%|████████▊ | 341/388 [00:19<00:02, 19.22it/s]
 89%|████████▊ | 344/388 [00:19<00:02, 20.44it/s]
 89%|████████▉ | 347/388 [00:19<00:02, 18.30it/s]
 90%|████████▉ | 349/388 [00:19<00:02, 18.29it/s]
 90%|█████████ | 351/388 [00:20<00:02, 15.69it/s]
 91%|█████████ | 353/388 [00:20<00:02, 16.31it/s]
 91%|█████████▏| 355/388 [00:20<00:02, 16.26it/s]
 92%|█████████▏| 357/388 [00:20<00:02, 15.42it/s]
 93%|█████████▎| 359/388 [00:20<00:01, 15.34it/s]
 93%|█████████▎| 361/388 [00:20<00:01, 14.12it/s]
 94%|█████████▍| 364/388 [00:20<00:01, 15.58it/s]
 94%|█████████▍| 366/388 [00:20<00:01, 15.63it/s]
 95%|█████████▌| 369/388 [00:21<00:01, 18.42it/s]
 96%|█████████▌| 372/388 [00:21<00:00, 20.23it/s]
 97%|█████████▋| 375/388 [00:21<00:00, 21.89it/s]
 97%|█████████▋| 378/388 [00:21<00:00, 23.01it/s]
 98%|█████████▊| 381/388 [00:21<00:00, 24.53it/s]
 99%|█████████▉| 384/388 [00:21<00:00, 25.50it/s]
100%|█████████▉| 387/388 [00:21<00:00, 24.90it/s]
100%|██████████| 388/388 [00:21<00:00, 17.78it/s]
Track data saved to /working/MDCP3D-SL-003_W029(6)_2026-03-06/calibration/debug/3_undistorted/output/ptd/2000L/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/MDCP3D-SL-003_W029(6)_2026-03-06/calibration/debug/3_undistorted/output/ptd/2000L/laser_aligned.ptd.cbor
+ basename /working/MDCP3D-SL-003_W029(6)_2026-03-06/calibration/debug/3_undistorted/output/ptd/2000R
+ python -m profile_alignment --shape square /working/MDCP3D-SL-003_W029(6)_2026-03-06/calibration/debug/3_undistorted/output/ptd/2000R/undistorted_frames.ptd.cbor fit
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.24
Input file:  /working/MDCP3D-SL-003_W029(6)_2026-03-06/calibration/debug/3_undistorted/output/ptd/2000R/undistorted_frames.ptd.cbor
Add sonar points?:  True
Selected method:  fit
Shape to fit: /app/profile_alignment/ref_shapes/square.shp
Writing the selected reference shape: False
The output alignment extension: json
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
 Reading PTD file in cbor format...
 Completed!
=-=-=-=-=-Adding Sonar points -=-=-=-=-=-=-
2026-03-09T19:03:30 - INFO:  The Sonar track is not found in the data directory!
2026-03-09T19:03:30 - INFO:  Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  0%|          | 1/200 [00:00<00:33,  5.98it/s]
  1%|          | 2/200 [00:00<00:30,  6.43it/s]
  2%|▏         | 3/200 [00:00<00:28,  6.89it/s]
  2%|▏         | 4/200 [00:00<00:29,  6.69it/s]
  2%|▎         | 5/200 [00:00<00:30,  6.33it/s]
  3%|▎         | 6/200 [00:00<00:30,  6.43it/s]
  4%|▎         | 7/200 [00:01<00:28,  6.68it/s]
  4%|▍         | 8/200 [00:01<00:29,  6.56it/s]
  4%|▍         | 9/200 [00:01<00:31,  6.14it/s]
  5%|▌         | 10/200 [00:01<00:29,  6.50it/s]
  6%|▌         | 11/200 [00:01<00:28,  6.54it/s]
  6%|▌         | 12/200 [00:01<00:33,  5.69it/s]
  6%|▋         | 13/200 [00:02<00:30,  6.11it/s]
  7%|▋         | 14/200 [00:02<00:28,  6.44it/s]
  8%|▊         | 15/200 [00:02<00:27,  6.78it/s]
  8%|▊         | 16/200 [00:02<00:25,  7.18it/s]
  8%|▊         | 17/200 [00:02<00:29,  6.29it/s]
  9%|▉         | 18/200 [00:02<00:28,  6.43it/s]
 10%|▉         | 19/200 [00:02<00:27,  6.51it/s]
 10%|█         | 20/200 [00:03<00:27,  6.61it/s]
 10%|█         | 21/200 [00:03<00:25,  6.90it/s]
 11%|█         | 22/200 [00:03<00:27,  6.58it/s]
 12%|█▏        | 23/200 [00:03<00:25,  6.95it/s]
 12%|█▏        | 24/200 [00:03<00:25,  6.87it/s]
 12%|█▎        | 25/200 [00:03<00:24,  7.18it/s]
 13%|█▎        | 26/200 [00:03<00:24,  7.13it/s]
 14%|█▎        | 27/200 [00:04<00:23,  7.48it/s]
 14%|█▍        | 28/200 [00:04<00:22,  7.70it/s]
 14%|█▍        | 29/200 [00:04<00:22,  7.44it/s]
 15%|█▌        | 30/200 [00:04<00:23,  7.38it/s]
 16%|█▌        | 31/200 [00:04<00:23,  7.28it/s]
 16%|█▌        | 32/200 [00:04<00:22,  7.48it/s]
 16%|█▋        | 33/200 [00:04<00:23,  7.14it/s]
 17%|█▋        | 34/200 [00:05<00:22,  7.26it/s]
 18%|█▊        | 35/200 [00:05<00:23,  7.07it/s]
 18%|█▊        | 36/200 [00:05<00:23,  7.02it/s]
 18%|█▊        | 37/200 [00:05<00:22,  7.17it/s]
 19%|█▉        | 38/200 [00:05<00:25,  6.37it/s]
 20%|█▉        | 39/200 [00:05<00:24,  6.52it/s]
 20%|██        | 40/200 [00:05<00:24,  6.45it/s]
 20%|██        | 41/200 [00:06<00:26,  6.04it/s]
 21%|██        | 42/200 [00:06<00:24,  6.42it/s]
 22%|██▏       | 43/200 [00:06<00:26,  5.86it/s]
 22%|██▏       | 44/200 [00:06<00:26,  5.86it/s]
 22%|██▎       | 45/200 [00:06<00:25,  6.14it/s]
 23%|██▎       | 46/200 [00:06<00:24,  6.29it/s]
 24%|██▎       | 47/200 [00:07<00:24,  6.28it/s]
 24%|██▍       | 48/200 [00:07<00:24,  6.31it/s]
 24%|██▍       | 49/200 [00:07<00:24,  6.20it/s]
 25%|██▌       | 50/200 [00:07<00:25,  5.78it/s]
 26%|██▌       | 51/200 [00:07<00:24,  6.00it/s]
 26%|██▌       | 52/200 [00:07<00:24,  6.12it/s]
 26%|██▋       | 53/200 [00:08<00:23,  6.34it/s]
 27%|██▋       | 54/200 [00:08<00:23,  6.13it/s]
 28%|██▊       | 55/200 [00:08<00:24,  5.96it/s]
 28%|██▊       | 56/200 [00:08<00:24,  5.82it/s]
 28%|██▊       | 57/200 [00:08<00:23,  6.02it/s]
 29%|██▉       | 58/200 [00:08<00:23,  5.98it/s]
 30%|██▉       | 59/200 [00:09<00:25,  5.62it/s]
 30%|███       | 60/200 [00:09<00:23,  5.86it/s]
 30%|███       | 61/200 [00:09<00:23,  5.92it/s]
 31%|███       | 62/200 [00:09<00:22,  6.02it/s]
 32%|███▏      | 63/200 [00:09<00:23,  5.75it/s]
 32%|███▏      | 64/200 [00:09<00:23,  5.80it/s]
 32%|███▎      | 65/200 [00:10<00:23,  5.63it/s]
 33%|███▎      | 66/200 [00:10<00:24,  5.54it/s]
 34%|███▎      | 67/200 [00:10<00:26,  5.10it/s]
 34%|███▍      | 68/200 [00:10<00:24,  5.37it/s]
 34%|███▍      | 69/200 [00:10<00:24,  5.27it/s]
 35%|███▌      | 70/200 [00:11<00:24,  5.33it/s]
 36%|███▌      | 71/200 [00:11<00:24,  5.37it/s]
 36%|███▌      | 72/200 [00:11<00:24,  5.32it/s]
 36%|███▋      | 73/200 [00:11<00:24,  5.15it/s]
 37%|███▋      | 74/200 [00:11<00:24,  5.14it/s]
 38%|███▊      | 75/200 [00:12<00:23,  5.27it/s]
 38%|███▊      | 76/200 [00:12<00:23,  5.28it/s]
 38%|███▊      | 77/200 [00:12<00:23,  5.25it/s]
 39%|███▉      | 78/200 [00:12<00:22,  5.43it/s]
 40%|███▉      | 79/200 [00:12<00:21,  5.56it/s]
 40%|████      | 80/200 [00:12<00:21,  5.70it/s]
 40%|████      | 81/200 [00:13<00:20,  5.76it/s]
 41%|████      | 82/200 [00:13<00:21,  5.37it/s]
 42%|████▏     | 83/200 [00:13<00:21,  5.34it/s]
 42%|████▏     | 84/200 [00:13<00:22,  5.24it/s]
 42%|████▎     | 85/200 [00:13<00:21,  5.31it/s]
 43%|████▎     | 86/200 [00:14<00:21,  5.26it/s]
 44%|████▎     | 87/200 [00:14<00:22,  5.00it/s]
 44%|████▍     | 88/200 [00:14<00:25,  4.31it/s]
 44%|████▍     | 89/200 [00:14<00:24,  4.55it/s]
 45%|████▌     | 90/200 [00:15<00:23,  4.78it/s]
 46%|████▌     | 91/200 [00:15<00:22,  4.91it/s]
 46%|████▌     | 92/200 [00:15<00:20,  5.28it/s]
 46%|████▋     | 93/200 [00:15<00:20,  5.31it/s]
 47%|████▋     | 94/200 [00:15<00:20,  5.27it/s]
 48%|████▊     | 95/200 [00:15<00:18,  5.56it/s]
 48%|████▊     | 96/200 [00:16<00:18,  5.63it/s]
 48%|████▊     | 97/200 [00:16<00:19,  5.33it/s]
 49%|████▉     | 98/200 [00:16<00:19,  5.35it/s]
 50%|████▉     | 99/200 [00:16<00:17,  5.67it/s]
 50%|█████     | 100/200 [00:16<00:17,  5.64it/s]
 50%|█████     | 101/200 [00:17<00:18,  5.32it/s]
 51%|█████     | 102/200 [00:17<00:18,  5.35it/s]
 52%|█████▏    | 103/200 [00:17<00:17,  5.67it/s]
 52%|█████▏    | 104/200 [00:17<00:16,  5.84it/s]
 52%|█████▎    | 105/200 [00:17<00:16,  5.93it/s]
 53%|█████▎    | 106/200 [00:17<00:15,  5.91it/s]
 54%|█████▎    | 107/200 [00:18<00:16,  5.55it/s]
 54%|█████▍    | 108/200 [00:18<00:17,  5.23it/s]
 55%|█████▍    | 109/200 [00:18<00:17,  5.26it/s]
 55%|█████▌    | 110/200 [00:18<00:16,  5.33it/s]
 56%|█████▌    | 111/200 [00:18<00:16,  5.28it/s]
 56%|█████▌    | 112/200 [00:19<00:16,  5.38it/s]
 56%|█████▋    | 113/200 [00:19<00:16,  5.34it/s]
 57%|█████▋    | 114/200 [00:19<00:15,  5.40it/s]
 57%|█████▊    | 115/200 [00:19<00:16,  5.26it/s]
 58%|█████▊    | 116/200 [00:19<00:16,  4.94it/s]
 58%|█████▊    | 117/200 [00:20<00:16,  4.94it/s]
 59%|█████▉    | 118/200 [00:20<00:16,  4.92it/s]
 60%|█████▉    | 119/200 [00:20<00:18,  4.47it/s]
 60%|██████    | 120/200 [00:20<00:18,  4.35it/s]
 60%|██████    | 121/200 [00:20<00:17,  4.52it/s]
 61%|██████    | 122/200 [00:21<00:18,  4.17it/s]
 62%|██████▏   | 123/200 [00:21<00:17,  4.44it/s]
 62%|██████▏   | 124/200 [00:21<00:17,  4.37it/s]
 62%|██████▎   | 125/200 [00:21<00:16,  4.59it/s]
 63%|██████▎   | 126/200 [00:22<00:15,  4.64it/s]
 64%|██████▎   | 127/200 [00:22<00:16,  4.43it/s]
 64%|██████▍   | 128/200 [00:22<00:15,  4.75it/s]
 64%|██████▍   | 129/200 [00:22<00:14,  4.74it/s]
 65%|██████▌   | 130/200 [00:22<00:14,  4.90it/s]
 66%|██████▌   | 131/200 [00:23<00:14,  4.72it/s]
 66%|██████▌   | 132/200 [00:23<00:15,  4.44it/s]
 66%|██████▋   | 133/200 [00:23<00:14,  4.55it/s]
 67%|██████▋   | 134/200 [00:23<00:14,  4.62it/s]
 68%|██████▊   | 135/200 [00:23<00:14,  4.60it/s]
 68%|██████▊   | 136/200 [00:24<00:13,  4.63it/s]
 68%|██████▊   | 137/200 [00:24<00:13,  4.83it/s]
 69%|██████▉   | 138/200 [00:24<00:14,  4.20it/s]
 70%|██████▉   | 139/200 [00:24<00:13,  4.43it/s]
 70%|███████   | 140/200 [00:25<00:13,  4.35it/s]
 70%|███████   | 141/200 [00:25<00:14,  4.04it/s]
 71%|███████   | 142/200 [00:25<00:14,  3.88it/s]
 72%|███████▏  | 143/200 [00:25<00:15,  3.78it/s]
 72%|███████▏  | 144/200 [00:26<00:14,  3.76it/s]
 72%|███████▎  | 145/200 [00:26<00:14,  3.78it/s]
 73%|███████▎  | 146/200 [00:26<00:13,  4.04it/s]
 74%|███████▎  | 147/200 [00:27<00:13,  3.89it/s]
 74%|███████▍  | 148/200 [00:27<00:12,  4.04it/s]
 74%|███████▍  | 149/200 [00:27<00:15,  3.36it/s]
 75%|███████▌  | 150/200 [00:27<00:13,  3.66it/s]
 76%|███████▌  | 151/200 [00:28<00:12,  3.83it/s]
 76%|███████▌  | 152/200 [00:28<00:12,  3.91it/s]
 76%|███████▋  | 153/200 [00:28<00:11,  3.98it/s]
 77%|███████▋  | 154/200 [00:28<00:12,  3.75it/s]
 78%|███████▊  | 155/200 [00:29<00:12,  3.73it/s]
 78%|███████▊  | 156/200 [00:29<00:11,  3.80it/s]
 78%|███████▊  | 157/200 [00:29<00:11,  3.90it/s]
 79%|███████▉  | 158/200 [00:29<00:10,  3.96it/s]
 80%|███████▉  | 159/200 [00:30<00:10,  3.99it/s]
 80%|████████  | 160/200 [00:30<00:10,  3.98it/s]
 80%|████████  | 161/200 [00:30<00:09,  3.94it/s]
 81%|████████  | 162/200 [00:30<00:09,  4.00it/s]
 82%|████████▏ | 163/200 [00:31<00:09,  3.82it/s]
 82%|████████▏ | 164/200 [00:31<00:09,  3.63it/s]
 82%|████████▎ | 165/200 [00:31<00:10,  3.30it/s]
 83%|████████▎ | 166/200 [00:32<00:10,  3.28it/s]
 84%|████████▎ | 167/200 [00:32<00:10,  3.24it/s]
 84%|████████▍ | 168/200 [00:32<00:09,  3.44it/s]
 84%|████████▍ | 169/200 [00:32<00:08,  3.64it/s]
 85%|████████▌ | 170/200 [00:33<00:07,  3.92it/s]
 86%|████████▌ | 171/200 [00:33<00:08,  3.62it/s]
 86%|████████▌ | 172/200 [00:33<00:07,  3.85it/s]
 86%|████████▋ | 173/200 [00:33<00:06,  3.90it/s]
 87%|████████▋ | 174/200 [00:34<00:07,  3.58it/s]
 88%|████████▊ | 175/200 [00:34<00:06,  3.73it/s]
 88%|████████▊ | 176/200 [00:34<00:06,  3.74it/s]
 88%|████████▊ | 177/200 [00:35<00:05,  3.92it/s]
 89%|████████▉ | 178/200 [00:35<00:05,  4.25it/s]
 90%|████████▉ | 179/200 [00:35<00:04,  4.35it/s]
 90%|█████████ | 180/200 [00:35<00:04,  4.43it/s]
 90%|█████████ | 181/200 [00:35<00:03,  4.77it/s]
 91%|█████████ | 182/200 [00:36<00:04,  4.40it/s]
 92%|█████████▏| 183/200 [00:36<00:04,  4.12it/s]
 92%|█████████▏| 184/200 [00:36<00:03,  4.20it/s]
 92%|█████████▎| 185/200 [00:36<00:03,  4.33it/s]
 93%|█████████▎| 186/200 [00:37<00:03,  4.31it/s]
 94%|█████████▎| 187/200 [00:37<00:02,  4.38it/s]
 94%|█████████▍| 188/200 [00:37<00:02,  4.63it/s]
 94%|█████████▍| 189/200 [00:37<00:02,  5.01it/s]
 95%|█████████▌| 190/200 [00:37<00:01,  5.31it/s]
 96%|█████████▌| 191/200 [00:37<00:01,  5.60it/s]
 96%|█████████▌| 192/200 [00:38<00:01,  6.02it/s]
 96%|█████████▋| 193/200 [00:38<00:01,  5.71it/s]
 97%|█████████▋| 194/200 [00:38<00:01,  5.61it/s]
 98%|█████████▊| 195/200 [00:38<00:00,  5.93it/s]
 98%|█████████▊| 196/200 [00:38<00:00,  6.07it/s]
 98%|█████████▊| 197/200 [00:38<00:00,  6.43it/s]
 99%|█████████▉| 198/200 [00:39<00:00,  6.32it/s]
100%|█████████▉| 199/200 [00:39<00:00,  6.50it/s]
100%|██████████| 200/200 [00:39<00:00,  6.75it/s]
100%|██████████| 200/200 [00:39<00:00,  5.08it/s]
2026-03-09T19:04:09 - INFO:  Median Scale of {200} frame found to be: {1.999633521764772}
2026-03-09T19:04:09 - INFO:  Fit to reference shape: 

  0%|          | 0/367 [00:00<?, ?it/s]
  1%|          | 2/367 [00:00<00:20, 17.82it/s]
  1%|▏         | 5/367 [00:00<00:17, 20.75it/s]
  2%|▏         | 8/367 [00:00<00:15, 22.67it/s]
  3%|▎         | 11/367 [00:00<00:15, 22.66it/s]
  4%|▍         | 14/367 [00:00<00:17, 20.29it/s]
  5%|▍         | 17/367 [00:00<00:16, 20.64it/s]
  5%|▌         | 20/367 [00:00<00:15, 22.04it/s]
  6%|▋         | 23/367 [00:01<00:15, 22.46it/s]
  7%|▋         | 26/367 [00:01<00:15, 22.63it/s]
  8%|▊         | 29/367 [00:01<00:14, 23.24it/s]
  9%|▊         | 32/367 [00:01<00:13, 24.38it/s]
 10%|▉         | 35/367 [00:01<00:13, 24.84it/s]
 10%|█         | 38/367 [00:01<00:13, 23.66it/s]
 11%|█         | 41/367 [00:01<00:15, 21.30it/s]
 12%|█▏        | 44/367 [00:02<00:16, 19.07it/s]
 13%|█▎        | 46/367 [00:02<00:18, 17.42it/s]
 13%|█▎        | 49/367 [00:02<00:17, 18.53it/s]
 14%|█▍        | 51/367 [00:02<00:19, 16.17it/s]
 14%|█▍        | 53/367 [00:02<00:19, 15.73it/s]
 15%|█▍        | 55/367 [00:02<00:19, 16.12it/s]
 16%|█▌        | 57/367 [00:02<00:20, 15.38it/s]
 16%|█▌        | 59/367 [00:03<00:21, 14.07it/s]
 17%|█▋        | 61/367 [00:03<00:22, 13.64it/s]
 17%|█▋        | 63/367 [00:03<00:24, 12.52it/s]
 18%|█▊        | 66/367 [00:03<00:19, 15.34it/s]
 19%|█▊        | 68/367 [00:03<00:19, 15.56it/s]
 19%|█▉        | 70/367 [00:03<00:19, 15.63it/s]
 20%|█▉        | 72/367 [00:03<00:18, 15.77it/s]
 20%|██        | 75/367 [00:04<00:15, 18.53it/s]
 21%|██▏       | 78/367 [00:04<00:14, 19.51it/s]
 22%|██▏       | 81/367 [00:04<00:15, 18.87it/s]
 23%|██▎       | 83/367 [00:04<00:14, 19.03it/s]
 23%|██▎       | 86/367 [00:04<00:13, 20.76it/s]
 24%|██▍       | 89/367 [00:04<00:13, 21.35it/s]
 25%|██▌       | 92/367 [00:04<00:12, 22.07it/s]
 26%|██▌       | 95/367 [00:05<00:14, 19.20it/s]
 27%|██▋       | 98/367 [00:05<00:12, 20.90it/s]
 28%|██▊       | 101/367 [00:05<00:12, 20.64it/s]
 28%|██▊       | 104/367 [00:05<00:15, 17.30it/s]
 29%|██▉       | 107/367 [00:05<00:13, 19.39it/s]
 30%|██▉       | 110/367 [00:05<00:13, 18.77it/s]
 31%|███       | 113/367 [00:05<00:12, 20.45it/s]
 32%|███▏      | 116/367 [00:06<00:11, 21.91it/s]
 32%|███▏      | 119/367 [00:06<00:11, 21.41it/s]
 33%|███▎      | 122/367 [00:06<00:11, 21.86it/s]
 34%|███▍      | 125/367 [00:06<00:10, 22.90it/s]
 35%|███▍      | 128/367 [00:06<00:10, 23.38it/s]
 36%|███▌      | 131/367 [00:06<00:09, 23.96it/s]
 37%|███▋      | 134/367 [00:06<00:11, 20.76it/s]
 37%|███▋      | 137/367 [00:07<00:13, 17.56it/s]
 38%|███▊      | 140/367 [00:07<00:11, 19.08it/s]
 39%|███▉      | 143/367 [00:07<00:10, 20.61it/s]
 40%|███▉      | 146/367 [00:07<00:10, 21.38it/s]
 41%|████      | 149/367 [00:07<00:09, 22.51it/s]
 41%|████▏     | 152/367 [00:07<00:09, 22.57it/s]
 42%|████▏     | 155/367 [00:07<00:10, 21.05it/s]
 43%|████▎     | 158/367 [00:08<00:09, 21.48it/s]
 44%|████▍     | 161/367 [00:08<00:09, 20.61it/s]
 45%|████▍     | 164/367 [00:08<00:09, 22.55it/s]
 46%|████▌     | 167/367 [00:08<00:09, 21.96it/s]
 46%|████▋     | 170/367 [00:08<00:09, 21.01it/s]
 47%|████▋     | 173/367 [00:08<00:09, 21.47it/s]
 48%|████▊     | 176/367 [00:08<00:08, 21.28it/s]
 49%|████▉     | 179/367 [00:08<00:08, 22.37it/s]
 50%|████▉     | 182/367 [00:09<00:08, 22.99it/s]
 50%|█████     | 185/367 [00:09<00:07, 23.63it/s]
 51%|█████     | 188/367 [00:09<00:07, 22.49it/s]
 52%|█████▏    | 191/367 [00:09<00:08, 21.96it/s]
 53%|█████▎    | 194/367 [00:09<00:08, 19.90it/s]
 54%|█████▎    | 197/367 [00:09<00:08, 21.13it/s]
 54%|█████▍    | 200/367 [00:10<00:09, 17.70it/s]
 55%|█████▌    | 202/367 [00:10<00:09, 17.95it/s]
 56%|█████▌    | 204/367 [00:10<00:09, 16.65it/s]
 56%|█████▋    | 207/367 [00:10<00:08, 18.52it/s]
 57%|█████▋    | 209/367 [00:10<00:08, 18.48it/s]
 57%|█████▋    | 211/367 [00:10<00:09, 16.97it/s]
 58%|█████▊    | 214/367 [00:10<00:09, 16.38it/s]
 59%|█████▉    | 216/367 [00:11<00:09, 16.37it/s]
 59%|█████▉    | 218/367 [00:11<00:09, 15.12it/s]
 60%|██████    | 221/367 [00:11<00:09, 16.13it/s]
 61%|██████    | 223/367 [00:11<00:09, 14.68it/s]
 61%|██████▏   | 225/367 [00:11<00:10, 13.67it/s]
 62%|██████▏   | 227/367 [00:11<00:10, 13.72it/s]
 62%|██████▏   | 229/367 [00:11<00:09, 14.94it/s]
 63%|██████▎   | 231/367 [00:12<00:08, 15.85it/s]
 63%|██████▎   | 233/367 [00:12<00:09, 14.52it/s]
 64%|██████▍   | 235/367 [00:12<00:10, 12.12it/s]
 65%|██████▍   | 237/367 [00:12<00:10, 12.24it/s]
 65%|██████▌   | 239/367 [00:12<00:09, 13.50it/s]
 66%|██████▌   | 242/367 [00:12<00:07, 15.70it/s]
 66%|██████▋   | 244/367 [00:12<00:07, 15.84it/s]
 67%|██████▋   | 246/367 [00:13<00:07, 16.48it/s]
 68%|██████▊   | 249/367 [00:13<00:06, 16.90it/s]
 68%|██████▊   | 251/367 [00:13<00:07, 16.30it/s]
 69%|██████▉   | 253/367 [00:13<00:07, 15.87it/s]
 69%|██████▉   | 255/367 [00:13<00:07, 15.53it/s]
 70%|███████   | 257/367 [00:13<00:06, 15.72it/s]
 71%|███████   | 260/367 [00:13<00:06, 15.70it/s]
 71%|███████▏  | 262/367 [00:14<00:06, 16.29it/s]
 72%|███████▏  | 264/367 [00:14<00:06, 16.94it/s]
 72%|███████▏  | 266/367 [00:14<00:06, 16.74it/s]
 73%|███████▎  | 268/367 [00:14<00:06, 15.83it/s]
 74%|███████▍  | 271/367 [00:14<00:05, 17.68it/s]
 75%|███████▍  | 274/367 [00:14<00:04, 18.70it/s]
 75%|███████▌  | 276/367 [00:14<00:05, 16.47it/s]
 76%|███████▌  | 278/367 [00:15<00:05, 16.49it/s]
 76%|███████▋  | 280/367 [00:15<00:05, 15.23it/s]
 77%|███████▋  | 282/367 [00:15<00:05, 16.07it/s]
 77%|███████▋  | 284/367 [00:15<00:05, 16.50it/s]
 78%|███████▊  | 286/367 [00:15<00:05, 16.17it/s]
 78%|███████▊  | 288/367 [00:15<00:04, 15.86it/s]
 79%|███████▉  | 290/367 [00:15<00:05, 14.61it/s]
 80%|███████▉  | 292/367 [00:15<00:04, 15.36it/s]
 80%|████████  | 294/367 [00:16<00:04, 14.97it/s]
 81%|████████  | 296/367 [00:16<00:04, 16.01it/s]
 81%|████████  | 298/367 [00:16<00:04, 16.07it/s]
 82%|████████▏ | 300/367 [00:16<00:04, 16.10it/s]
 82%|████████▏ | 302/367 [00:16<00:04, 14.91it/s]
 83%|████████▎ | 304/367 [00:16<00:04, 14.37it/s]
 83%|████████▎ | 306/367 [00:16<00:04, 14.89it/s]
 84%|████████▍ | 308/367 [00:16<00:03, 15.16it/s]
 84%|████████▍ | 310/367 [00:17<00:03, 15.65it/s]
 85%|████████▌ | 312/367 [00:17<00:03, 15.88it/s]
 86%|████████▌ | 314/367 [00:17<00:03, 15.51it/s]
 86%|████████▌ | 316/367 [00:17<00:03, 16.06it/s]
 87%|████████▋ | 318/367 [00:17<00:03, 15.90it/s]
 87%|████████▋ | 320/367 [00:17<00:02, 15.85it/s]
 88%|████████▊ | 323/367 [00:17<00:02, 17.13it/s]
 89%|████████▊ | 325/367 [00:17<00:02, 17.34it/s]
 89%|████████▉ | 327/367 [00:18<00:02, 17.42it/s]
 90%|████████▉ | 329/367 [00:18<00:02, 17.50it/s]
 90%|█████████ | 331/367 [00:18<00:02, 17.21it/s]
 91%|█████████ | 334/367 [00:18<00:01, 17.65it/s]
 92%|█████████▏| 336/367 [00:18<00:01, 17.68it/s]
 92%|█████████▏| 339/367 [00:18<00:01, 19.27it/s]
 93%|█████████▎| 341/367 [00:18<00:01, 18.65it/s]
 93%|█████████▎| 343/367 [00:18<00:01, 18.58it/s]
 94%|█████████▍| 345/367 [00:19<00:01, 18.38it/s]
 95%|█████████▍| 347/367 [00:19<00:01, 18.52it/s]
 95%|█████████▌| 349/367 [00:19<00:00, 18.18it/s]
 96%|█████████▌| 351/367 [00:19<00:00, 17.96it/s]
 96%|█████████▌| 353/367 [00:19<00:00, 17.76it/s]
 97%|█████████▋| 355/367 [00:19<00:00, 16.89it/s]
 97%|█████████▋| 357/367 [00:19<00:00, 16.69it/s]
 98%|█████████▊| 359/367 [00:19<00:00, 16.63it/s]
 98%|█████████▊| 361/367 [00:20<00:00, 15.41it/s]
 99%|█████████▉| 363/367 [00:20<00:00, 16.20it/s]
 99%|█████████▉| 365/367 [00:20<00:00, 16.40it/s]
100%|██████████| 367/367 [00:20<00:00, 16.03it/s]
100%|██████████| 367/367 [00:20<00:00, 17.97it/s]
Track data saved to /working/MDCP3D-SL-003_W029(6)_2026-03-06/calibration/debug/3_undistorted/output/ptd/2000R/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/MDCP3D-SL-003_W029(6)_2026-03-06/calibration/debug/3_undistorted/output/ptd/2000R/laser_aligned.ptd.cbor