=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.8
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 -=-=-=-=-=-=-
2025-12-09T00:55:50 - INFO:  Reading sonar track took 0.16648578643798828 sec!
2025-12-09T00:55:50 - INFO:  Reading sonar alignment track took {0.005970478057861328} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  1%|          | 2/200 [00:00<00:11, 16.71it/s]
  2%|▎         | 5/200 [00:00<00:08, 21.84it/s]
  4%|▍         | 8/200 [00:00<00:08, 23.16it/s]
  6%|▌         | 11/200 [00:00<00:07, 24.25it/s]
  7%|▋         | 14/200 [00:00<00:07, 24.11it/s]
  8%|▊         | 17/200 [00:00<00:08, 22.59it/s]
 10%|█         | 20/200 [00:00<00:08, 21.61it/s]
 12%|█▏        | 23/200 [00:01<00:07, 22.66it/s]
 13%|█▎        | 26/200 [00:01<00:07, 23.52it/s]
 14%|█▍        | 29/200 [00:01<00:06, 24.67it/s]
 16%|█▌        | 32/200 [00:01<00:06, 24.11it/s]
 18%|█▊        | 35/200 [00:01<00:07, 23.55it/s]
 19%|█▉        | 38/200 [00:01<00:07, 23.08it/s]
 20%|██        | 41/200 [00:01<00:06, 23.99it/s]
 22%|██▏       | 44/200 [00:01<00:06, 23.60it/s]
 24%|██▎       | 47/200 [00:02<00:06, 23.55it/s]
 25%|██▌       | 50/200 [00:02<00:06, 23.84it/s]
 27%|██▋       | 54/200 [00:02<00:05, 24.83it/s]
 28%|██▊       | 57/200 [00:02<00:05, 26.03it/s]
 30%|███       | 60/200 [00:02<00:05, 25.82it/s]
 32%|███▏      | 63/200 [00:02<00:05, 25.91it/s]
 33%|███▎      | 66/200 [00:02<00:05, 26.24it/s]
 34%|███▍      | 69/200 [00:02<00:04, 26.36it/s]
 36%|███▌      | 72/200 [00:02<00:05, 25.36it/s]
 38%|███▊      | 75/200 [00:03<00:04, 26.06it/s]
 39%|███▉      | 78/200 [00:03<00:04, 25.07it/s]
 40%|████      | 81/200 [00:03<00:04, 24.73it/s]
 42%|████▏     | 84/200 [00:03<00:04, 23.70it/s]
 44%|████▍     | 88/200 [00:03<00:04, 25.36it/s]
 46%|████▌     | 91/200 [00:03<00:04, 24.47it/s]
 47%|████▋     | 94/200 [00:03<00:04, 24.46it/s]
 48%|████▊     | 97/200 [00:03<00:04, 25.37it/s]
 50%|█████     | 100/200 [00:04<00:04, 24.42it/s]
 52%|█████▏    | 103/200 [00:04<00:03, 25.64it/s]
 53%|█████▎    | 106/200 [00:04<00:03, 24.58it/s]
 55%|█████▍    | 109/200 [00:04<00:03, 23.80it/s]
 56%|█████▌    | 112/200 [00:04<00:03, 22.81it/s]
 57%|█████▊    | 115/200 [00:04<00:03, 24.38it/s]
 59%|█████▉    | 118/200 [00:04<00:03, 24.57it/s]
 60%|██████    | 121/200 [00:04<00:03, 24.47it/s]
 62%|██████▏   | 124/200 [00:05<00:03, 24.80it/s]
 64%|██████▎   | 127/200 [00:05<00:03, 22.47it/s]
 65%|██████▌   | 130/200 [00:05<00:03, 22.38it/s]
 66%|██████▋   | 133/200 [00:05<00:02, 23.46it/s]
 68%|██████▊   | 136/200 [00:05<00:02, 23.42it/s]
 70%|██████▉   | 139/200 [00:05<00:02, 22.67it/s]
 71%|███████   | 142/200 [00:05<00:02, 23.34it/s]
 72%|███████▎  | 145/200 [00:06<00:02, 23.66it/s]
 74%|███████▍  | 148/200 [00:06<00:02, 22.81it/s]
 76%|███████▌  | 151/200 [00:06<00:02, 22.55it/s]
 77%|███████▋  | 154/200 [00:06<00:01, 23.87it/s]
 78%|███████▊  | 157/200 [00:06<00:01, 24.39it/s]
 80%|████████  | 160/200 [00:06<00:01, 25.29it/s]
 82%|████████▏ | 163/200 [00:06<00:01, 23.83it/s]
 83%|████████▎ | 166/200 [00:06<00:01, 23.26it/s]
 84%|████████▍ | 169/200 [00:07<00:01, 23.23it/s]
 86%|████████▌ | 172/200 [00:07<00:01, 23.78it/s]
 88%|████████▊ | 175/200 [00:07<00:01, 22.98it/s]
 89%|████████▉ | 178/200 [00:07<00:01, 21.81it/s]
 90%|█████████ | 181/200 [00:07<00:00, 23.14it/s]
 92%|█████████▏| 184/200 [00:07<00:00, 23.92it/s]
 94%|█████████▎| 187/200 [00:07<00:00, 24.26it/s]
 95%|█████████▌| 190/200 [00:07<00:00, 22.93it/s]
 96%|█████████▋| 193/200 [00:08<00:00, 24.08it/s]
 98%|█████████▊| 196/200 [00:08<00:00, 23.93it/s]
100%|█████████▉| 199/200 [00:08<00:00, 22.10it/s]
100%|██████████| 200/200 [00:08<00:00, 23.75it/s]
 Median Scale of 200 frame found to be: 1.286507230292403
 Fit to reference shape: 

0it [00:00, ?it/s]
3it [00:00, 22.83it/s]
8it [00:00, 32.67it/s]
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183it [00:02, 66.41it/s]
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200it [00:03, 72.96it/s]
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378it [00:05, 77.24it/s]
386it [00:05, 77.25it/s]
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404it [00:05, 78.98it/s]
415it [00:05, 87.11it/s]
426it [00:06, 92.16it/s]
436it [00:06, 90.88it/s]
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456it [00:06, 91.08it/s]
466it [00:06, 92.50it/s]
476it [00:06, 93.28it/s]
487it [00:06, 97.34it/s]
497it [00:06, 94.17it/s]
507it [00:07, 68.49it/s]
515it [00:07, 69.80it/s]
524it [00:07, 74.20it/s]
533it [00:07, 75.60it/s]
543it [00:07, 81.58it/s]
553it [00:07, 84.98it/s]
564it [00:07, 91.10it/s]
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603it [00:08, 84.80it/s]
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636it [00:08, 91.16it/s]
646it [00:08, 80.04it/s]
655it [00:08, 74.79it/s]
663it [00:08, 71.47it/s]
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682it [00:09, 78.52it/s]
690it [00:09, 75.17it/s]
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708it [00:09, 79.30it/s]
717it [00:09, 67.44it/s]
725it [00:09, 66.01it/s]
734it [00:09, 70.55it/s]
746it [00:09, 82.06it/s]
755it [00:10, 78.27it/s]
764it [00:10, 76.38it/s]
773it [00:10, 79.21it/s]
782it [00:10, 76.72it/s]
791it [00:10, 78.98it/s]
800it [00:10, 75.69it/s]
809it [00:10, 79.33it/s]
819it [00:10, 83.46it/s]
828it [00:11, 70.92it/s]
838it [00:11, 73.02it/s]
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854it [00:11, 73.49it/s]
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901it [00:11, 82.45it/s]
910it [00:12, 83.70it/s]
920it [00:12, 86.39it/s]
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958it [00:12, 87.94it/s]
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986it [00:12, 81.50it/s]
995it [00:13, 79.47it/s]
1004it [00:13, 81.16it/s]
1013it [00:13, 72.44it/s]
1022it [00:13, 74.84it/s]
1030it [00:13, 75.92it/s]
1038it [00:13, 75.27it/s]
1046it [00:13, 76.09it/s]
1056it [00:13, 79.54it/s]
1064it [00:13, 76.24it/s]
1072it [00:14, 75.00it/s]
1081it [00:14, 76.16it/s]
1089it [00:14, 75.44it/s]
1099it [00:14, 80.34it/s]
1111it [00:14, 88.24it/s]
1120it [00:14, 81.96it/s]
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1234it [00:15, 85.44it/s]
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1426it [00:18, 82.02it/s]
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1454it [00:18, 78.65it/s]
1464it [00:18, 83.20it/s]
1473it [00:18, 82.52it/s]
1482it [00:19, 74.76it/s]
1490it [00:19, 70.97it/s]
1500it [00:19, 77.88it/s]
1508it [00:19, 70.81it/s]
1517it [00:19, 73.58it/s]
1525it [00:19, 75.00it/s]
1534it [00:19, 76.12it/s]
1542it [00:19, 76.48it/s]
1550it [00:20, 75.91it/s]
1558it [00:20, 73.36it/s]
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1578it [00:20, 83.68it/s]
1587it [00:20, 79.87it/s]
1596it [00:20, 77.03it/s]
1604it [00:20, 77.67it/s]
1612it [00:20, 76.92it/s]
1621it [00:20, 78.51it/s]
1631it [00:21, 82.83it/s]
1641it [00:21, 85.75it/s]
1653it [00:21, 90.77it/s]
1663it [00:21, 90.29it/s]
1673it [00:21, 92.73it/s]
1683it [00:21, 91.08it/s]
1693it [00:21, 89.86it/s]
1704it [00:21, 94.90it/s]
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1773it [00:22, 89.54it/s]
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1793it [00:22, 90.89it/s]
1803it [00:22, 87.21it/s]
1812it [00:23, 84.17it/s]
1821it [00:23, 82.09it/s]
1830it [00:23, 82.37it/s]
1841it [00:23, 88.50it/s]
1850it [00:23, 88.69it/s]
1859it [00:23, 79.72it/s]
1868it [00:23, 79.28it/s]
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1886it [00:24, 78.36it/s]
1895it [00:24, 79.95it/s]
1904it [00:24, 76.40it/s]
1913it [00:24, 79.44it/s]
1923it [00:24, 84.50it/s]
1932it [00:24, 78.66it/s]
1942it [00:24, 83.46it/s]
1954it [00:24, 92.23it/s]
1964it [00:24, 91.80it/s]
1974it [00:25, 88.04it/s]
1983it [00:25, 83.74it/s]
1993it [00:25, 87.20it/s]
2004it [00:25, 90.32it/s]
2014it [00:25, 86.16it/s]
2023it [00:25, 85.36it/s]
2034it [00:25, 91.13it/s]
2044it [00:25, 87.93it/s]
2053it [00:25, 82.34it/s]
2062it [00:26, 80.61it/s]
2071it [00:26, 80.81it/s]
2081it [00:26, 84.14it/s]
2090it [00:26, 77.60it/s]
2098it [00:26, 72.78it/s]
2108it [00:26, 78.40it/s]
2116it [00:26, 77.98it/s]
2125it [00:26, 80.83it/s]
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2142it [00:27, 77.93it/s]
2151it [00:27, 81.04it/s]
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2169it [00:27, 75.73it/s]
2178it [00:27, 79.44it/s]
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2206it [00:27, 79.83it/s]
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2246it [00:28, 81.76it/s]
2255it [00:28, 80.01it/s]
2264it [00:28, 77.95it/s]
2272it [00:28, 70.88it/s]
2280it [00:28, 70.82it/s]
2289it [00:28, 74.90it/s]
2298it [00:29, 76.29it/s]
2307it [00:29, 75.77it/s]
2316it [00:29, 79.05it/s]
2326it [00:29, 83.85it/s]
2336it [00:29, 83.62it/s]
2347it [00:29, 84.86it/s]
2356it [00:29, 83.16it/s]
2367it [00:29, 87.64it/s]
2378it [00:29, 93.19it/s]
2388it [00:30, 92.39it/s]
2398it [00:30, 94.03it/s]
2408it [00:30, 88.98it/s]
2421it [00:30, 99.43it/s]
2432it [00:30, 95.68it/s]
2442it [00:30, 82.35it/s]
2451it [00:30, 80.63it/s]
2461it [00:30, 78.74it/s]
2470it [00:31, 72.54it/s]
2479it [00:31, 75.66it/s]
2490it [00:31, 82.11it/s]
2501it [00:31, 88.58it/s]
2511it [00:31, 91.39it/s]
2521it [00:31, 87.16it/s]
2531it [00:31, 89.76it/s]
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2552it [00:31, 91.64it/s]
2562it [00:32, 93.65it/s]
2572it [00:32, 93.19it/s]
2582it [00:32, 92.35it/s]
2593it [00:32, 95.14it/s]
2603it [00:32, 85.75it/s]
2612it [00:32, 78.51it/s]
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2630it [00:32, 78.43it/s]
2640it [00:33, 83.87it/s]
2650it [00:33, 88.12it/s]
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2671it [00:33, 86.15it/s]
2680it [00:33, 86.80it/s]
2689it [00:33, 86.86it/s]
2698it [00:33, 84.75it/s]
2707it [00:33, 85.49it/s]
2717it [00:33, 88.84it/s]
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2862it [00:35, 89.73it/s]
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2891it [00:35, 90.26it/s]
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2910it [00:36, 84.21it/s]
2919it [00:36, 81.13it/s]
2929it [00:36, 85.44it/s]
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2948it [00:36, 87.07it/s]
2957it [00:36, 87.86it/s]
2967it [00:36, 91.20it/s]
2977it [00:36, 89.43it/s]
2986it [00:37, 78.88it/s]
2996it [00:37, 82.77it/s]
3005it [00:37, 80.52it/s]
3015it [00:37, 83.94it/s]
3024it [00:37, 85.42it/s]
3033it [00:37, 76.84it/s]
3044it [00:37, 84.61it/s]
3053it [00:37, 84.78it/s]
3063it [00:37, 85.07it/s]
3074it [00:38, 91.21it/s]
3084it [00:38, 85.54it/s]
3093it [00:38, 78.43it/s]
3103it [00:38, 82.90it/s]
3113it [00:38, 84.46it/s]
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3131it [00:38, 80.02it/s]
3140it [00:38, 82.25it/s]
3150it [00:39, 83.30it/s]
3162it [00:39, 93.17it/s]
3172it [00:39, 93.72it/s]
3182it [00:39, 91.85it/s]
3192it [00:39, 89.38it/s]
3202it [00:39, 78.00it/s]
3211it [00:39, 80.26it/s]
3220it [00:39, 76.39it/s]
3228it [00:39, 74.20it/s]
3236it [00:40, 69.04it/s]
3245it [00:40, 71.72it/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