=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.9
Input file:  /working/cdb3443e-5dd1-49bf-b7ac-4d9a5730a027/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 -=-=-=-=-=-=-
2025-12-21T18:56:31 - INFO:  Reading sonar track took 0.1570422649383545 sec!
2025-12-21T18:56:31 - INFO:  Reading sonar alignment track took {0.0007011890411376953} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  2%|▏         | 3/200 [00:00<00:10, 18.42it/s]
  3%|▎         | 6/200 [00:00<00:08, 21.61it/s]
  4%|▍         | 9/200 [00:00<00:09, 19.19it/s]
  6%|▌         | 12/200 [00:00<00:09, 20.43it/s]
  8%|▊         | 15/200 [00:00<00:09, 20.31it/s]
  9%|▉         | 18/200 [00:00<00:08, 21.51it/s]
 11%|█         | 22/200 [00:00<00:07, 24.81it/s]
 12%|█▎        | 25/200 [00:01<00:07, 24.56it/s]
 14%|█▍        | 28/200 [00:01<00:06, 25.14it/s]
 16%|█▌        | 32/200 [00:01<00:06, 25.89it/s]
 18%|█▊        | 35/200 [00:01<00:06, 23.82it/s]
 19%|█▉        | 38/200 [00:01<00:06, 23.50it/s]
 21%|██        | 42/200 [00:01<00:06, 25.91it/s]
 22%|██▎       | 45/200 [00:01<00:05, 26.22it/s]
 24%|██▍       | 48/200 [00:02<00:05, 25.76it/s]
 26%|██▌       | 51/200 [00:02<00:05, 25.70it/s]
 27%|██▋       | 54/200 [00:02<00:05, 25.44it/s]
 28%|██▊       | 57/200 [00:02<00:06, 23.70it/s]
 30%|███       | 60/200 [00:02<00:06, 22.16it/s]
 32%|███▏      | 63/200 [00:02<00:05, 23.35it/s]
 33%|███▎      | 66/200 [00:02<00:05, 22.52it/s]
 34%|███▍      | 69/200 [00:02<00:06, 21.45it/s]
 36%|███▌      | 72/200 [00:03<00:05, 22.74it/s]
 38%|███▊      | 75/200 [00:03<00:05, 24.14it/s]
 39%|███▉      | 78/200 [00:03<00:05, 23.98it/s]
 40%|████      | 81/200 [00:03<00:05, 22.53it/s]
 42%|████▏     | 84/200 [00:03<00:04, 24.07it/s]
 44%|████▎     | 87/200 [00:03<00:04, 22.99it/s]
 45%|████▌     | 90/200 [00:03<00:04, 23.51it/s]
 46%|████▋     | 93/200 [00:03<00:04, 24.45it/s]
 48%|████▊     | 96/200 [00:04<00:04, 22.12it/s]
 50%|████▉     | 99/200 [00:04<00:04, 23.41it/s]
 51%|█████     | 102/200 [00:04<00:04, 24.46it/s]
 52%|█████▎    | 105/200 [00:04<00:04, 23.10it/s]
 55%|█████▍    | 109/200 [00:04<00:03, 25.77it/s]
 56%|█████▌    | 112/200 [00:04<00:03, 26.22it/s]
 57%|█████▊    | 115/200 [00:04<00:03, 26.29it/s]
 59%|█████▉    | 118/200 [00:04<00:03, 27.18it/s]
 60%|██████    | 121/200 [00:05<00:02, 26.79it/s]
 62%|██████▏   | 124/200 [00:05<00:03, 25.32it/s]
 64%|██████▎   | 127/200 [00:05<00:02, 25.57it/s]
 65%|██████▌   | 130/200 [00:05<00:03, 23.12it/s]
 66%|██████▋   | 133/200 [00:05<00:02, 23.97it/s]
 68%|██████▊   | 136/200 [00:05<00:02, 22.56it/s]
 70%|██████▉   | 139/200 [00:05<00:02, 22.98it/s]
 72%|███████▏  | 143/200 [00:05<00:02, 24.52it/s]
 74%|███████▎  | 147/200 [00:06<00:02, 26.37it/s]
 75%|███████▌  | 150/200 [00:06<00:01, 27.20it/s]
 76%|███████▋  | 153/200 [00:06<00:01, 24.65it/s]
 78%|███████▊  | 156/200 [00:06<00:01, 23.65it/s]
 80%|███████▉  | 159/200 [00:06<00:01, 23.45it/s]
 81%|████████  | 162/200 [00:06<00:01, 23.44it/s]
 82%|████████▎ | 165/200 [00:06<00:01, 22.84it/s]
 84%|████████▍ | 168/200 [00:07<00:01, 22.39it/s]
 86%|████████▌ | 171/200 [00:07<00:01, 22.89it/s]
 87%|████████▋ | 174/200 [00:07<00:01, 21.99it/s]
 88%|████████▊ | 177/200 [00:07<00:00, 23.33it/s]
 90%|█████████ | 180/200 [00:07<00:00, 23.90it/s]
 92%|█████████▏| 183/200 [00:07<00:00, 24.50it/s]
 93%|█████████▎| 186/200 [00:07<00:00, 23.01it/s]
 94%|█████████▍| 189/200 [00:07<00:00, 22.47it/s]
 96%|█████████▌| 192/200 [00:08<00:00, 22.58it/s]
 98%|█████████▊| 195/200 [00:08<00:00, 23.28it/s]
 99%|█████████▉| 198/200 [00:08<00:00, 22.77it/s]
100%|██████████| 200/200 [00:08<00:00, 23.53it/s]
 Median Scale of 200 frame found to be: 0.9061370418724982
 Fit to reference shape: 

0it [00:00, ?it/s]
4it [00:00, 19.81it/s]
7it [00:00, 23.41it/s]
16it [00:00, 46.53it/s]
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31it [00:00, 59.76it/s]
38it [00:00, 57.92it/s]
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55it [00:00, 69.17it/s]
63it [00:01, 66.36it/s]
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414it [00:05, 62.42it/s]
423it [00:06, 67.05it/s]
430it [00:06, 63.43it/s]
437it [00:06, 62.78it/s]
446it [00:06, 69.14it/s]
454it [00:06, 71.74it/s]
462it [00:06, 68.24it/s]
469it [00:06, 59.47it/s]
480it [00:06, 70.52it/s]
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496it [00:07, 66.33it/s]
503it [00:07, 64.82it/s]
513it [00:07, 72.92it/s]
523it [00:07, 77.31it/s]
531it [00:07, 73.71it/s]
539it [00:07, 73.36it/s]
548it [00:07, 75.31it/s]
556it [00:07, 75.04it/s]
564it [00:08, 72.28it/s]
572it [00:08, 65.05it/s]
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591it [00:08, 73.87it/s]
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617it [00:08, 77.72it/s]
625it [00:08, 69.78it/s]
633it [00:09, 67.34it/s]
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657it [00:09, 68.83it/s]
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693it [00:09, 65.46it/s]
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710it [00:10, 72.84it/s]
721it [00:10, 81.01it/s]
730it [00:10, 79.10it/s]
738it [00:10, 77.02it/s]
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755it [00:10, 74.78it/s]
763it [00:10, 67.90it/s]
770it [00:10, 66.83it/s]
777it [00:11, 64.15it/s]
785it [00:11, 64.70it/s]
795it [00:11, 72.11it/s]
803it [00:11, 70.03it/s]
811it [00:11, 67.95it/s]
818it [00:11, 67.85it/s]
825it [00:11, 67.85it/s]
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851it [00:12, 78.66it/s]
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877it [00:12, 76.85it/s]
887it [00:12, 82.48it/s]
896it [00:12, 80.06it/s]
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913it [00:12, 77.29it/s]
922it [00:12, 77.35it/s]
930it [00:13, 74.92it/s]
938it [00:13, 76.14it/s]
948it [00:13, 82.65it/s]
957it [00:13, 82.44it/s]
966it [00:13, 83.50it/s]
975it [00:13, 82.40it/s]
985it [00:13, 85.39it/s]
994it [00:13, 85.24it/s]
1003it [00:13, 85.92it/s]
1016it [00:14, 95.63it/s]
1027it [00:14, 98.31it/s]
1037it [00:14, 97.52it/s]
1048it [00:14, 100.30it/s]
1059it [00:14, 100.82it/s]
1070it [00:14, 100.04it/s]
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1104it [00:14, 104.14it/s]
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1379it [00:18, 91.40it/s]
1389it [00:18, 89.14it/s]
1398it [00:18, 86.21it/s]
1407it [00:18, 83.35it/s]
1418it [00:18, 88.81it/s]
1427it [00:18, 86.42it/s]
1436it [00:18, 86.14it/s]
1447it [00:18, 91.63it/s]
1457it [00:18, 90.87it/s]
1467it [00:19, 90.56it/s]
1477it [00:19, 90.32it/s]
1488it [00:19, 93.11it/s]
1498it [00:19, 85.88it/s]
1507it [00:19, 84.47it/s]
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1526it [00:19, 80.76it/s]
1535it [00:19, 78.32it/s]
1545it [00:19, 83.84it/s]
1556it [00:20, 88.35it/s]
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1575it [00:20, 91.04it/s]
1585it [00:20, 89.29it/s]
1594it [00:20, 81.70it/s]
1606it [00:20, 91.46it/s]
1618it [00:20, 97.42it/s]
1629it [00:20, 99.73it/s]
1640it [00:20, 101.94it/s]
1652it [00:21, 104.27it/s]
1663it [00:21, 104.47it/s]
1674it [00:21, 104.62it/s]
1685it [00:21, 99.99it/s] 
1696it [00:21, 102.13it/s]
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1718it [00:21, 97.00it/s] 
1728it [00:21, 91.59it/s]
1738it [00:22, 88.74it/s]
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1757it [00:22, 89.52it/s]
1766it [00:22, 89.01it/s]
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1793it [00:22, 83.63it/s]
1802it [00:22, 82.95it/s]
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1821it [00:23, 80.91it/s]
1830it [00:23, 81.66it/s]
1839it [00:23, 79.24it/s]
1848it [00:23, 81.41it/s]
1858it [00:23, 84.45it/s]
1867it [00:23, 77.55it/s]
1875it [00:23, 75.11it/s]
1883it [00:23, 73.96it/s]
1891it [00:23, 75.31it/s]
1900it [00:24, 75.72it/s]
1908it [00:24, 70.77it/s]
1917it [00:24, 74.30it/s]
1927it [00:24, 80.30it/s]
1936it [00:24, 80.89it/s]
1945it [00:24, 79.87it/s]
1954it [00:24, 81.42it/s]
1963it [00:24, 81.11it/s]
1972it [00:24, 81.34it/s]
1981it [00:25, 81.39it/s]
1991it [00:25, 84.87it/s]
2000it [00:25, 82.90it/s]
2009it [00:25, 83.44it/s]
2019it [00:25, 87.72it/s]
2029it [00:25, 89.27it/s]
2038it [00:25, 88.96it/s]
2047it [00:25, 84.78it/s]
2056it [00:25, 84.60it/s]
2066it [00:26, 88.16it/s]
2075it [00:26, 85.19it/s]
2084it [00:26, 83.10it/s]
2093it [00:26, 82.65it/s]
2103it [00:26, 86.28it/s]
2112it [00:26, 84.61it/s]
2122it [00:26, 87.87it/s]
2131it [00:26, 86.68it/s]
2141it [00:26, 88.50it/s]
2150it [00:26, 87.97it/s]
2160it [00:27, 86.88it/s]
2169it [00:27, 86.42it/s]
2180it [00:27, 91.18it/s]
2190it [00:27, 92.25it/s]
2201it [00:27, 95.61it/s]
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2242it [00:27, 88.53it/s]
2251it [00:28, 82.37it/s]
2261it [00:28, 86.66it/s]
2270it [00:28, 83.99it/s]
2280it [00:28, 87.25it/s]
2289it [00:28, 85.49it/s]
2300it [00:28, 89.38it/s]
2309it [00:28, 85.76it/s]
2319it [00:28, 88.31it/s]
2328it [00:28, 86.92it/s]
2337it [00:29, 83.04it/s]
2346it [00:29, 83.60it/s]
2355it [00:29, 84.57it/s]
2364it [00:29, 81.09it/s]
2373it [00:29, 80.98it/s]
2382it [00:29, 79.19it/s]
2391it [00:29, 80.72it/s]
2400it [00:29, 82.88it/s]
2409it [00:29, 84.83it/s]
2418it [00:30, 85.55it/s]
2427it [00:30, 85.15it/s]
2436it [00:30, 82.00it/s]
2445it [00:30, 78.51it/s]
2454it [00:30, 80.11it/s]
2463it [00:30, 74.45it/s]
2471it [00:30, 73.03it/s]
2479it [00:30, 71.93it/s]
2488it [00:31, 75.36it/s]
2498it [00:31, 81.35it/s]
2508it [00:31, 84.17it/s]
2518it [00:31, 88.50it/s]
2528it [00:31, 91.06it/s]
2539it [00:31, 95.06it/s]
2549it [00:31, 90.51it/s]
2559it [00:31, 87.07it/s]
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2578it [00:32, 86.35it/s]
2587it [00:32, 85.69it/s]
2597it [00:32, 88.04it/s]
2607it [00:32, 87.00it/s]
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2635it [00:32, 88.22it/s]
2644it [00:32, 88.11it/s]
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2672it [00:33, 87.50it/s]
2681it [00:33, 79.40it/s]
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2699it [00:33, 79.29it/s]
2708it [00:33, 75.68it/s]
2716it [00:33, 76.42it/s]
2725it [00:33, 78.60it/s]
2734it [00:33, 79.91it/s]
2743it [00:34, 78.87it/s]
2751it [00:34, 76.39it/s]
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2878it [00:35, 77.59it/s]
2887it [00:35, 79.91it/s]
2898it [00:35, 86.62it/s]
2907it [00:36, 87.11it/s]
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2927it [00:36, 92.56it/s]
2937it [00:36, 92.51it/s]
2948it [00:36, 93.54it/s]
2959it [00:36, 97.79it/s]
2970it [00:36, 101.04it/s]
2981it [00:36, 102.30it/s]
2992it [00:36, 102.23it/s]
3003it [00:36, 102.42it/s]
3015it [00:37, 106.40it/s]
3026it [00:37, 100.58it/s]
3039it [00:37, 107.14it/s]
3051it [00:37, 110.43it/s]
3063it [00:37, 105.19it/s]
3074it [00:37, 93.51it/s] 
3084it [00:37, 92.93it/s]
3094it [00:37, 94.34it/s]
3104it [00:38, 91.15it/s]
3115it [00:38, 95.38it/s]
3125it [00:38, 86.37it/s]
3137it [00:38, 93.78it/s]
3147it [00:38, 91.07it/s]
3157it [00:38, 92.11it/s]
3167it [00:38, 87.47it/s]
3176it [00:38, 87.42it/s]
3187it [00:38, 91.94it/s]
3197it [00:39, 91.74it/s]
3207it [00:39, 87.56it/s]
3217it [00:39, 88.51it/s]
3227it [00:39, 90.53it/s]
3237it [00:39, 91.54it/s]
3247it [00:39, 89.82it/s]
3257it [00:39, 82.37it/s]
3267it [00:39, 86.08it/s]
3276it [00:39, 79.45it/s]
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Track data saved to /working/cdb3443e-5dd1-49bf-b7ac-4d9a5730a027/processing/data/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/cdb3443e-5dd1-49bf-b7ac-4d9a5730a027/processing/data/laser_aligned.ptd.cbor