=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.7
Input file:  /working/c3465dfb-3d4a-4e71-9355-e32999405c2d/processing/data/laser.ptd.cbor
Add sonar points?:  True
Selected method:  fit
Shape to fit: /working/shape.shp
The output alignment extension: json
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
 Reading PTD file in cbor format...
 Completed!
=-=-=-=-=-Adding Sonar points -=-=-=-=-=-=-
2025-12-05T02:19:39 - INFO:  Reading sonar track took 0.18839478492736816 sec!
2025-12-05T02:19:39 - INFO:  Reading sonar alignment track took {0.0006284713745117188} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  1%|          | 2/200 [00:00<00:13, 14.67it/s]
  2%|▎         | 5/200 [00:00<00:10, 18.89it/s]
  4%|▍         | 8/200 [00:00<00:08, 21.57it/s]
  6%|▌         | 11/200 [00:00<00:09, 20.49it/s]
  7%|▋         | 14/200 [00:00<00:08, 21.95it/s]
  8%|▊         | 17/200 [00:00<00:07, 23.68it/s]
 10%|█         | 20/200 [00:00<00:07, 23.36it/s]
 12%|█▏        | 23/200 [00:01<00:07, 22.84it/s]
 13%|█▎        | 26/200 [00:01<00:07, 22.40it/s]
 14%|█▍        | 29/200 [00:01<00:07, 22.88it/s]
 16%|█▌        | 32/200 [00:01<00:06, 24.66it/s]
 18%|█▊        | 35/200 [00:01<00:06, 24.61it/s]
 19%|█▉        | 38/200 [00:01<00:06, 25.05it/s]
 20%|██        | 41/200 [00:01<00:06, 24.35it/s]
 22%|██▏       | 44/200 [00:01<00:06, 23.56it/s]
 24%|██▎       | 47/200 [00:02<00:06, 23.89it/s]
 25%|██▌       | 50/200 [00:02<00:06, 23.52it/s]
 26%|██▋       | 53/200 [00:02<00:06, 22.39it/s]
 28%|██▊       | 56/200 [00:02<00:06, 22.84it/s]
 30%|██▉       | 59/200 [00:02<00:06, 23.03it/s]
 31%|███       | 62/200 [00:02<00:05, 23.33it/s]
 32%|███▎      | 65/200 [00:02<00:05, 23.43it/s]
 34%|███▍      | 68/200 [00:02<00:05, 23.68it/s]
 36%|███▌      | 71/200 [00:03<00:05, 23.67it/s]
 37%|███▋      | 74/200 [00:03<00:05, 24.41it/s]
 38%|███▊      | 77/200 [00:03<00:05, 22.53it/s]
 40%|████      | 80/200 [00:03<00:05, 22.71it/s]
 42%|████▏     | 83/200 [00:03<00:05, 23.29it/s]
 43%|████▎     | 86/200 [00:03<00:04, 24.16it/s]
 44%|████▍     | 89/200 [00:03<00:04, 23.36it/s]
 46%|████▌     | 92/200 [00:03<00:04, 23.08it/s]
 48%|████▊     | 95/200 [00:04<00:04, 22.14it/s]
 49%|████▉     | 98/200 [00:04<00:04, 21.76it/s]
 50%|█████     | 101/200 [00:04<00:04, 21.09it/s]
 52%|█████▏    | 104/200 [00:04<00:04, 21.50it/s]
 54%|█████▎    | 107/200 [00:04<00:04, 21.86it/s]
 55%|█████▌    | 110/200 [00:04<00:04, 20.68it/s]
 56%|█████▋    | 113/200 [00:04<00:03, 22.25it/s]
 58%|█████▊    | 116/200 [00:05<00:03, 21.52it/s]
 60%|█████▉    | 119/200 [00:05<00:03, 22.18it/s]
 61%|██████    | 122/200 [00:05<00:03, 22.15it/s]
 62%|██████▎   | 125/200 [00:05<00:03, 22.84it/s]
 64%|██████▍   | 128/200 [00:05<00:03, 22.84it/s]
 66%|██████▌   | 131/200 [00:05<00:03, 22.08it/s]
 67%|██████▋   | 134/200 [00:05<00:02, 23.20it/s]
 68%|██████▊   | 137/200 [00:06<00:02, 24.12it/s]
 70%|███████   | 140/200 [00:06<00:02, 24.47it/s]
 72%|███████▏  | 143/200 [00:06<00:02, 24.33it/s]
 73%|███████▎  | 146/200 [00:06<00:02, 24.14it/s]
 74%|███████▍  | 149/200 [00:06<00:02, 24.04it/s]
 76%|███████▌  | 152/200 [00:06<00:01, 24.09it/s]
 78%|███████▊  | 155/200 [00:06<00:02, 22.38it/s]
 79%|███████▉  | 158/200 [00:06<00:01, 23.03it/s]
 80%|████████  | 161/200 [00:07<00:01, 23.19it/s]
 82%|████████▏ | 164/200 [00:07<00:01, 23.44it/s]
 84%|████████▎ | 167/200 [00:07<00:01, 23.33it/s]
 85%|████████▌ | 170/200 [00:07<00:01, 24.03it/s]
 86%|████████▋ | 173/200 [00:07<00:01, 24.71it/s]
 88%|████████▊ | 176/200 [00:07<00:00, 24.13it/s]
 90%|████████▉ | 179/200 [00:07<00:00, 24.27it/s]
 91%|█████████ | 182/200 [00:07<00:00, 24.28it/s]
 92%|█████████▎| 185/200 [00:08<00:00, 23.53it/s]
 94%|█████████▍| 188/200 [00:08<00:00, 23.30it/s]
 96%|█████████▌| 191/200 [00:08<00:00, 22.40it/s]
 97%|█████████▋| 194/200 [00:08<00:00, 22.49it/s]
 98%|█████████▊| 197/200 [00:08<00:00, 21.38it/s]
100%|██████████| 200/200 [00:08<00:00, 20.18it/s]
100%|██████████| 200/200 [00:08<00:00, 22.83it/s]
 Median Scale of 200 frame found to be: 1.3001641816285998
 Fit to reference shape: 

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728it [00:09, 93.58it/s]
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810it [00:09, 90.35it/s]
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858it [00:10, 85.87it/s]
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1071it [00:13, 88.27it/s]
1080it [00:13, 87.79it/s]
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1100it [00:13, 90.85it/s]
1111it [00:13, 90.47it/s]
1123it [00:13, 97.18it/s]
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1562it [00:18, 87.17it/s]
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1582it [00:18, 91.37it/s]
1592it [00:18, 87.59it/s]
1601it [00:19, 80.25it/s]
1610it [00:19, 79.95it/s]
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1742it [00:20, 101.69it/s]
1753it [00:20, 102.63it/s]
1764it [00:20, 99.28it/s] 
1775it [00:20, 99.89it/s]
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1806it [00:21, 87.33it/s]
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1857it [00:21, 93.05it/s]
1867it [00:21, 89.48it/s]
1877it [00:22, 91.51it/s]
1887it [00:22, 89.86it/s]
1900it [00:22, 100.33it/s]
1911it [00:22, 98.59it/s] 
1922it [00:22, 99.49it/s]
1933it [00:22, 97.87it/s]
1945it [00:22, 102.83it/s]
1956it [00:22, 96.79it/s] 
1966it [00:22, 96.60it/s]
1976it [00:23, 88.61it/s]
1987it [00:23, 93.19it/s]
1997it [00:23, 93.60it/s]
2007it [00:23, 95.17it/s]
2019it [00:23, 101.95it/s]
2031it [00:23, 106.49it/s]
2042it [00:23, 106.65it/s]
2053it [00:23, 100.81it/s]
2064it [00:23, 102.01it/s]
2075it [00:24, 99.63it/s] 
2086it [00:24, 99.62it/s]
2097it [00:24, 100.45it/s]
2108it [00:24, 93.87it/s] 
2118it [00:24, 85.08it/s]
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2205it [00:25, 91.48it/s]
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2245it [00:26, 93.30it/s]
2256it [00:26, 96.41it/s]
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2286it [00:26, 86.40it/s]
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2456it [00:28, 83.79it/s]
2466it [00:28, 86.70it/s]
2475it [00:28, 87.07it/s]
2484it [00:28, 84.33it/s]
2494it [00:28, 84.91it/s]
2507it [00:28, 95.51it/s]
2517it [00:28, 96.00it/s]
2528it [00:29, 98.30it/s]
2540it [00:29, 101.01it/s]
2552it [00:29, 102.77it/s]
2563it [00:29, 103.85it/s]
2574it [00:29, 100.91it/s]
2587it [00:29, 105.84it/s]
2598it [00:29, 95.30it/s] 
2609it [00:29, 97.54it/s]
2619it [00:29, 97.64it/s]
2629it [00:30, 98.07it/s]
2639it [00:30, 98.15it/s]
2653it [00:30, 109.28it/s]
2666it [00:30, 113.14it/s]
2678it [00:30, 97.66it/s] 
2690it [00:30, 103.03it/s]
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2712it [00:30, 98.37it/s]
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2786it [00:31, 88.85it/s]
2797it [00:31, 92.39it/s]
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2817it [00:32, 90.58it/s]
2827it [00:32, 87.97it/s]
2837it [00:32, 89.12it/s]
2848it [00:32, 93.56it/s]
2858it [00:32, 95.21it/s]
2868it [00:32, 96.17it/s]
2879it [00:32, 99.55it/s]
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2899it [00:32, 92.38it/s]
2911it [00:33, 96.37it/s]
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2931it [00:33, 83.98it/s]
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3159it [00:35, 96.46it/s]
3169it [00:35, 95.63it/s]
3179it [00:35, 90.85it/s]
3189it [00:36, 91.32it/s]
3201it [00:36, 97.57it/s]
3212it [00:36, 99.32it/s]
3222it [00:36, 94.20it/s]
3232it [00:36, 92.40it/s]
3242it [00:36, 83.57it/s]
3251it [00:36, 84.04it/s]
3261it [00:36, 83.60it/s]
3270it [00:37, 81.83it/s]
3281it [00:37, 88.87it/s]
3293it [00:37, 95.25it/s]
3303it [00:37, 95.07it/s]
3313it [00:37, 86.34it/s]
3322it [00:37, 80.31it/s]
3331it [00:37, 80.58it/s]
3340it [00:37, 80.79it/s]
3349it [00:37, 82.41it/s]
3359it [00:38, 85.06it/s]
3369it [00:38, 87.81it/s]
3379it [00:38, 89.74it/s]
3389it [00:38, 83.74it/s]
3400it [00:38, 89.62it/s]
3411it [00:38, 90.14it/s]
3421it [00:38, 90.00it/s]
3431it [00:38, 86.16it/s]
3442it [00:38, 91.63it/s]
3452it [00:39, 86.54it/s]
3461it [00:39, 87.26it/s]
3470it [00:39, 87.65it/s]
3479it [00:39, 87.41it/s]
3490it [00:39, 92.76it/s]
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Track data saved to /working/c3465dfb-3d4a-4e71-9355-e32999405c2d/processing/data/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/c3465dfb-3d4a-4e71-9355-e32999405c2d/processing/data/laser_aligned.ptd.cbor