+ python -m profile_alignment --result /working/result.json --shape /working/shape.shape.json --write-shape /working/shape.json /working/8413e641-da62-4ee8-950b-0970645c0faa/processing/data/lidar.ptd.dat pipeshift
2026-06-02T07:24:33 - INFO: Profile Alignment 0.0.35
2026-06-02T07:24:33 - INFO: Alignment track will be output to /working/8413e641-da62-4ee8-950b-0970645c0faa/processing/data
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
2026-06-02T07:24:33 - INFO: Input: /working/8413e641-da62-4ee8-950b-0970645c0faa/processing/data/lidar.ptd.dat
2026-06-02T07:24:33 - INFO: Sonar: if present
2026-06-02T07:24:33 - INFO: Method: pipeshift
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
2026-06-02T07:24:33 - INFO: Track format: json
 Reading PTD file in binary format...
 Completed!
2026-06-02T07:24:33 - INFO: Pipe size track found at /working/8413e641-da62-4ee8-950b-0970645c0faa/processing/data/pipe_size.track.json. Using first-frame scale for all frames.
2026-06-02T07:24:33 - INFO:  Calculating the size from 500 frames: section 1 ...

  0%|          | 0/500 [00:00<?, ?it/s]
  1%|          | 3/500 [00:00<00:33, 14.97it/s]
  1%|          | 5/500 [00:00<00:43, 11.31it/s]
  1%|▏         | 7/500 [00:00<00:44, 11.06it/s]
  2%|▏         | 9/500 [00:00<00:43, 11.33it/s]
  2%|▏         | 12/500 [00:00<00:35, 13.64it/s]
  3%|▎         | 14/500 [00:01<00:37, 12.86it/s]
  3%|▎         | 16/500 [00:01<00:35, 13.67it/s]
  4%|▎         | 18/500 [00:01<00:34, 14.08it/s]
  4%|▍         | 20/500 [00:01<00:35, 13.58it/s]
  4%|▍         | 22/500 [00:01<00:34, 14.05it/s]
  5%|▍         | 24/500 [00:01<00:33, 14.23it/s]
  5%|▌         | 26/500 [00:01<00:32, 14.55it/s]
  6%|▌         | 28/500 [00:02<00:32, 14.48it/s]
  6%|▌         | 30/500 [00:02<00:33, 13.87it/s]
  6%|▋         | 32/500 [00:02<00:33, 14.03it/s]
  7%|▋         | 34/500 [00:02<00:31, 14.57it/s]
  7%|▋         | 36/500 [00:02<00:30, 15.36it/s]
  8%|▊         | 38/500 [00:02<00:30, 15.35it/s]
  8%|▊         | 40/500 [00:02<00:29, 15.42it/s]
  8%|▊         | 42/500 [00:03<00:32, 14.11it/s]
  9%|▉         | 44/500 [00:03<00:32, 14.03it/s]
  9%|▉         | 46/500 [00:03<00:30, 14.81it/s]
 10%|▉         | 48/500 [00:03<00:30, 15.04it/s]
 10%|█         | 50/500 [00:03<00:32, 13.89it/s]
 10%|█         | 52/500 [00:03<00:32, 13.98it/s]
 11%|█         | 54/500 [00:03<00:33, 13.15it/s]
 11%|█         | 56/500 [00:04<00:33, 13.45it/s]
 12%|█▏        | 58/500 [00:04<00:34, 12.89it/s]
 12%|█▏        | 60/500 [00:04<00:35, 12.26it/s]
 12%|█▏        | 62/500 [00:04<00:34, 12.56it/s]
 13%|█▎        | 64/500 [00:04<00:34, 12.56it/s]
 13%|█▎        | 66/500 [00:04<00:34, 12.52it/s]
 14%|█▎        | 68/500 [00:05<00:32, 13.19it/s]
 14%|█▍        | 70/500 [00:05<00:31, 13.80it/s]
 14%|█▍        | 72/500 [00:05<00:30, 14.21it/s]
 15%|█▍        | 74/500 [00:05<00:28, 14.70it/s]
 15%|█▌        | 76/500 [00:05<00:32, 13.19it/s]
 16%|█▌        | 78/500 [00:05<00:30, 13.81it/s]
 16%|█▌        | 80/500 [00:05<00:29, 14.24it/s]
 16%|█▋        | 82/500 [00:05<00:28, 14.72it/s]
 17%|█▋        | 84/500 [00:06<00:28, 14.44it/s]
 17%|█▋        | 86/500 [00:06<00:27, 14.97it/s]
 18%|█▊        | 88/500 [00:06<00:26, 15.79it/s]
 18%|█▊        | 90/500 [00:06<00:26, 15.70it/s]
 18%|█▊        | 92/500 [00:06<00:27, 15.03it/s]
 19%|█▉        | 94/500 [00:06<00:26, 15.48it/s]
 19%|█▉        | 96/500 [00:06<00:25, 15.66it/s]
 20%|█▉        | 98/500 [00:06<00:25, 15.81it/s]
 20%|██        | 100/500 [00:07<00:25, 15.53it/s]
 20%|██        | 102/500 [00:07<00:25, 15.71it/s]
 21%|██        | 104/500 [00:07<00:26, 15.18it/s]
 21%|██        | 106/500 [00:07<00:27, 14.53it/s]
 22%|██▏       | 108/500 [00:07<00:27, 14.30it/s]
 22%|██▏       | 110/500 [00:07<00:25, 15.12it/s]
 22%|██▏       | 112/500 [00:07<00:25, 15.33it/s]
 23%|██▎       | 114/500 [00:08<00:26, 14.73it/s]
 23%|██▎       | 116/500 [00:08<00:27, 14.10it/s]
 24%|██▎       | 118/500 [00:08<00:27, 14.10it/s]
 24%|██▍       | 120/500 [00:08<00:25, 14.65it/s]
 24%|██▍       | 122/500 [00:08<00:25, 14.65it/s]
 25%|██▍       | 124/500 [00:08<00:25, 14.87it/s]
 25%|██▌       | 126/500 [00:08<00:25, 14.90it/s]
 26%|██▌       | 128/500 [00:09<00:24, 14.88it/s]
 26%|██▌       | 130/500 [00:09<00:25, 14.66it/s]
 26%|██▋       | 132/500 [00:09<00:26, 14.10it/s]
 27%|██▋       | 134/500 [00:09<00:24, 14.67it/s]
 27%|██▋       | 136/500 [00:09<00:26, 13.95it/s]
 28%|██▊       | 138/500 [00:09<00:26, 13.70it/s]
 28%|██▊       | 140/500 [00:09<00:25, 14.22it/s]
 28%|██▊       | 142/500 [00:10<00:25, 13.94it/s]
 29%|██▉       | 144/500 [00:10<00:27, 13.07it/s]
 29%|██▉       | 146/500 [00:10<00:26, 13.57it/s]
 30%|██▉       | 148/500 [00:10<00:25, 13.63it/s]
 30%|███       | 150/500 [00:10<00:26, 13.26it/s]
 30%|███       | 152/500 [00:10<00:24, 14.26it/s]
 31%|███       | 154/500 [00:10<00:23, 14.79it/s]
 31%|███       | 156/500 [00:11<00:23, 14.78it/s]
 32%|███▏      | 158/500 [00:11<00:22, 15.00it/s]
 32%|███▏      | 160/500 [00:11<00:23, 14.44it/s]
 32%|███▏      | 162/500 [00:11<00:22, 14.80it/s]
 33%|███▎      | 164/500 [00:11<00:23, 14.50it/s]
 33%|███▎      | 166/500 [00:11<00:24, 13.85it/s]
 34%|███▎      | 168/500 [00:11<00:23, 14.02it/s]
 34%|███▍      | 170/500 [00:12<00:24, 13.50it/s]
 34%|███▍      | 172/500 [00:12<00:22, 14.27it/s]
 35%|███▍      | 174/500 [00:12<00:23, 14.14it/s]
 35%|███▌      | 176/500 [00:12<00:23, 13.85it/s]
 36%|███▌      | 178/500 [00:12<00:22, 14.21it/s]
 36%|███▌      | 180/500 [00:12<00:22, 14.27it/s]
 36%|███▋      | 182/500 [00:12<00:21, 15.06it/s]
 37%|███▋      | 184/500 [00:12<00:20, 15.12it/s]
 37%|███▋      | 186/500 [00:13<00:21, 14.87it/s]
 38%|███▊      | 188/500 [00:13<00:21, 14.58it/s]
 38%|███▊      | 190/500 [00:13<00:22, 13.58it/s]
 38%|███▊      | 192/500 [00:13<00:23, 13.35it/s]
 39%|███▉      | 194/500 [00:13<00:23, 13.09it/s]
 39%|███▉      | 196/500 [00:13<00:22, 13.35it/s]
 40%|███▉      | 198/500 [00:14<00:22, 13.38it/s]
 40%|████      | 200/500 [00:14<00:22, 13.42it/s]
 40%|████      | 202/500 [00:14<00:21, 13.68it/s]
 41%|████      | 204/500 [00:14<00:22, 13.22it/s]
 41%|████      | 206/500 [00:14<00:21, 13.52it/s]
 42%|████▏     | 208/500 [00:14<00:20, 14.52it/s]
 42%|████▏     | 210/500 [00:14<00:19, 14.59it/s]
 42%|████▏     | 212/500 [00:14<00:19, 15.05it/s]
 43%|████▎     | 214/500 [00:15<00:18, 15.31it/s]
 43%|████▎     | 216/500 [00:15<00:18, 15.51it/s]
 44%|████▎     | 218/500 [00:15<00:18, 15.57it/s]
 44%|████▍     | 220/500 [00:15<00:18, 15.52it/s]
 44%|████▍     | 222/500 [00:15<00:18, 15.38it/s]
 45%|████▍     | 224/500 [00:15<00:20, 13.67it/s]
 45%|████▌     | 226/500 [00:15<00:19, 13.87it/s]
 46%|████▌     | 228/500 [00:16<00:19, 14.23it/s]
 46%|████▌     | 230/500 [00:16<00:18, 14.40it/s]
 46%|████▋     | 232/500 [00:16<00:17, 14.98it/s]
 47%|████▋     | 234/500 [00:16<00:17, 15.50it/s]
 47%|████▋     | 236/500 [00:16<00:17, 15.24it/s]
 48%|████▊     | 238/500 [00:16<00:17, 14.71it/s]
 48%|████▊     | 240/500 [00:16<00:18, 14.17it/s]
 48%|████▊     | 242/500 [00:17<00:17, 14.45it/s]
 49%|████▉     | 244/500 [00:17<00:17, 14.77it/s]
 49%|████▉     | 246/500 [00:17<00:17, 14.58it/s]
 50%|████▉     | 248/500 [00:17<00:17, 14.59it/s]
 50%|█████     | 250/500 [00:17<00:17, 14.37it/s]
 50%|█████     | 252/500 [00:17<00:17, 14.56it/s]
 51%|█████     | 254/500 [00:17<00:15, 15.40it/s]
 51%|█████     | 256/500 [00:17<00:15, 15.42it/s]
 52%|█████▏    | 258/500 [00:18<00:15, 15.52it/s]
 52%|█████▏    | 260/500 [00:18<00:16, 14.70it/s]
 52%|█████▏    | 262/500 [00:18<00:17, 13.98it/s]
 53%|█████▎    | 264/500 [00:18<00:16, 14.20it/s]
 53%|█████▎    | 266/500 [00:18<00:17, 13.36it/s]
 54%|█████▎    | 268/500 [00:18<00:18, 12.54it/s]
 54%|█████▍    | 270/500 [00:19<00:18, 12.26it/s]
 54%|█████▍    | 272/500 [00:19<00:18, 12.05it/s]
 55%|█████▍    | 274/500 [00:19<00:18, 12.44it/s]
 55%|█████▌    | 276/500 [00:19<00:17, 12.52it/s]
 56%|█████▌    | 278/500 [00:19<00:17, 12.73it/s]
 56%|█████▌    | 280/500 [00:19<00:17, 12.49it/s]
 56%|█████▋    | 282/500 [00:20<00:17, 12.41it/s]
 57%|█████▋    | 284/500 [00:20<00:17, 12.26it/s]
 57%|█████▋    | 286/500 [00:20<00:17, 12.41it/s]
 58%|█████▊    | 288/500 [00:20<00:17, 11.97it/s]
 58%|█████▊    | 290/500 [00:20<00:16, 12.49it/s]
 58%|█████▊    | 292/500 [00:20<00:16, 12.36it/s]
 59%|█████▉    | 294/500 [00:20<00:16, 12.64it/s]
 59%|█████▉    | 296/500 [00:21<00:15, 12.80it/s]
 60%|█████▉    | 298/500 [00:21<00:15, 13.10it/s]
 60%|██████    | 300/500 [00:21<00:16, 12.05it/s]
 60%|██████    | 302/500 [00:21<00:16, 12.32it/s]
 61%|██████    | 304/500 [00:21<00:17, 11.51it/s]
 61%|██████    | 306/500 [00:22<00:18, 10.33it/s]
 62%|██████▏   | 308/500 [00:22<00:17, 10.76it/s]
 62%|██████▏   | 310/500 [00:22<00:16, 11.21it/s]
 62%|██████▏   | 312/500 [00:22<00:17, 10.96it/s]
 63%|██████▎   | 314/500 [00:22<00:16, 11.48it/s]
 63%|██████▎   | 316/500 [00:22<00:15, 11.63it/s]
 64%|██████▎   | 318/500 [00:23<00:14, 12.20it/s]
 64%|██████▍   | 320/500 [00:23<00:14, 12.52it/s]
 64%|██████▍   | 322/500 [00:23<00:15, 11.48it/s]
 65%|██████▍   | 324/500 [00:23<00:15, 11.53it/s]
 65%|██████▌   | 326/500 [00:23<00:14, 11.65it/s]
 66%|██████▌   | 328/500 [00:23<00:14, 11.54it/s]
 66%|██████▌   | 330/500 [00:24<00:13, 12.35it/s]
 66%|██████▋   | 332/500 [00:24<00:13, 12.54it/s]
 67%|██████▋   | 334/500 [00:24<00:12, 12.83it/s]
 67%|██████▋   | 336/500 [00:24<00:12, 12.75it/s]
 68%|██████▊   | 338/500 [00:24<00:12, 13.02it/s]
 68%|██████▊   | 340/500 [00:24<00:11, 13.68it/s]
 68%|██████▊   | 342/500 [00:24<00:11, 14.01it/s]
 69%|██████▉   | 344/500 [00:25<00:10, 14.24it/s]
 69%|██████▉   | 346/500 [00:25<00:10, 14.30it/s]
 70%|██████▉   | 348/500 [00:25<00:10, 13.99it/s]
 70%|███████   | 350/500 [00:25<00:10, 14.33it/s]
 70%|███████   | 352/500 [00:25<00:10, 14.10it/s]
 71%|███████   | 354/500 [00:25<00:10, 13.40it/s]
 71%|███████   | 356/500 [00:25<00:10, 14.09it/s]
 72%|███████▏  | 358/500 [00:26<00:10, 13.50it/s]
 72%|███████▏  | 360/500 [00:26<00:10, 13.84it/s]
 72%|███████▏  | 362/500 [00:26<00:09, 14.68it/s]
 73%|███████▎  | 364/500 [00:26<00:09, 14.34it/s]
 73%|███████▎  | 366/500 [00:26<00:09, 13.55it/s]
 74%|███████▎  | 368/500 [00:26<00:10, 12.98it/s]
 74%|███████▍  | 370/500 [00:27<00:10, 12.50it/s]
 74%|███████▍  | 372/500 [00:27<00:09, 13.55it/s]
 75%|███████▍  | 374/500 [00:27<00:09, 13.69it/s]
 75%|███████▌  | 376/500 [00:27<00:08, 14.16it/s]
 76%|███████▌  | 378/500 [00:27<00:08, 14.67it/s]
 76%|███████▌  | 380/500 [00:27<00:08, 13.92it/s]
 76%|███████▋  | 382/500 [00:27<00:08, 13.11it/s]
 77%|███████▋  | 384/500 [00:28<00:08, 12.93it/s]
 77%|███████▋  | 386/500 [00:28<00:09, 12.48it/s]
 78%|███████▊  | 388/500 [00:28<00:08, 12.69it/s]
 78%|███████▊  | 390/500 [00:28<00:08, 12.67it/s]
 78%|███████▊  | 392/500 [00:28<00:08, 12.37it/s]
 79%|███████▉  | 394/500 [00:28<00:08, 12.74it/s]
 79%|███████▉  | 396/500 [00:28<00:08, 12.99it/s]
 80%|███████▉  | 398/500 [00:29<00:07, 13.24it/s]
 80%|████████  | 400/500 [00:29<00:07, 13.62it/s]
 80%|████████  | 402/500 [00:29<00:06, 14.02it/s]
 81%|████████  | 404/500 [00:29<00:07, 13.34it/s]
 81%|████████  | 406/500 [00:29<00:07, 13.34it/s]
 82%|████████▏ | 408/500 [00:29<00:06, 13.47it/s]
 82%|████████▏ | 410/500 [00:29<00:06, 13.41it/s]
 82%|████████▏ | 412/500 [00:30<00:06, 13.89it/s]
 83%|████████▎ | 414/500 [00:30<00:06, 13.30it/s]
 83%|████████▎ | 416/500 [00:30<00:06, 13.47it/s]
 84%|████████▎ | 418/500 [00:30<00:06, 13.34it/s]
 84%|████████▍ | 420/500 [00:30<00:05, 13.55it/s]
 84%|████████▍ | 422/500 [00:30<00:05, 13.56it/s]
 85%|████████▍ | 424/500 [00:31<00:05, 14.00it/s]
 85%|████████▌ | 426/500 [00:31<00:05, 14.62it/s]
 86%|████████▌ | 428/500 [00:31<00:04, 14.55it/s]
 86%|████████▌ | 430/500 [00:31<00:04, 14.69it/s]
 86%|████████▋ | 432/500 [00:31<00:04, 14.12it/s]
 87%|████████▋ | 434/500 [00:31<00:04, 14.43it/s]
 87%|████████▋ | 436/500 [00:31<00:04, 14.85it/s]
 88%|████████▊ | 438/500 [00:31<00:04, 15.36it/s]
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 90%|█████████ | 452/500 [00:32<00:03, 14.19it/s]
 91%|█████████ | 454/500 [00:33<00:03, 14.64it/s]
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 92%|█████████▏| 458/500 [00:33<00:03, 13.26it/s]
 92%|█████████▏| 460/500 [00:33<00:03, 13.13it/s]
 92%|█████████▏| 462/500 [00:33<00:02, 13.39it/s]
 93%|█████████▎| 464/500 [00:33<00:02, 12.93it/s]
 93%|█████████▎| 466/500 [00:33<00:02, 14.05it/s]
 94%|█████████▎| 468/500 [00:34<00:02, 12.83it/s]
 94%|█████████▍| 470/500 [00:34<00:02, 13.35it/s]
 94%|█████████▍| 472/500 [00:34<00:02, 13.40it/s]
 95%|█████████▍| 474/500 [00:34<00:01, 13.48it/s]
 95%|█████████▌| 476/500 [00:34<00:01, 13.40it/s]
 96%|█████████▌| 478/500 [00:34<00:01, 12.88it/s]
 96%|█████████▌| 480/500 [00:35<00:01, 12.76it/s]
 96%|█████████▋| 482/500 [00:35<00:01, 13.49it/s]
 97%|█████████▋| 484/500 [00:35<00:01, 13.81it/s]
 97%|█████████▋| 486/500 [00:35<00:01, 13.84it/s]
 98%|█████████▊| 488/500 [00:35<00:00, 12.90it/s]
 98%|█████████▊| 490/500 [00:35<00:00, 13.62it/s]
 98%|█████████▊| 492/500 [00:35<00:00, 13.40it/s]
 99%|█████████▉| 494/500 [00:36<00:00, 13.87it/s]
 99%|█████████▉| 496/500 [00:36<00:00, 13.50it/s]
100%|█████████▉| 498/500 [00:36<00:00, 12.80it/s]
100%|██████████| 500/500 [00:36<00:00, 12.52it/s]
100%|██████████| 500/500 [00:36<00:00, 13.66it/s]
2026-06-02T07:25:10 - INFO: Reported Size 2159.000000 mm, start: 1773144165496058036, end: 1773158463034456436
2026-06-02T07:25:10 - INFO: Median Scale of 500 frame found to be: 1568.51734 mm
2026-06-02T07:25:10 - INFO: section 0: scale shift applied: -295.24133 mm
Track data saved to /working/8413e641-da62-4ee8-950b-0970645c0faa/processing/data/alignment.track.json