=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.9
Input file:  /working/fc97c28d-6708-45f0-9ce7-fcb43be5b5d0/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 -=-=-=-=-=-=-
2025-12-21T18:55:24 - INFO:  Reading sonar track took 0.07600116729736328 sec!
2025-12-21T18:55:24 - INFO:  Reading sonar alignment track took {0.0005180835723876953} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  1%|          | 2/200 [00:00<00:13, 14.52it/s]
  2%|▎         | 5/200 [00:00<00:11, 16.83it/s]
  4%|▍         | 8/200 [00:00<00:10, 19.07it/s]
  6%|▌         | 11/200 [00:00<00:09, 20.22it/s]
  7%|▋         | 14/200 [00:00<00:09, 19.69it/s]
  8%|▊         | 17/200 [00:00<00:09, 20.27it/s]
 10%|█         | 20/200 [00:01<00:09, 19.54it/s]
 12%|█▏        | 23/200 [00:01<00:08, 19.93it/s]
 13%|█▎        | 26/200 [00:01<00:09, 19.22it/s]
 14%|█▍        | 28/200 [00:01<00:08, 19.24it/s]
 15%|█▌        | 30/200 [00:01<00:09, 18.58it/s]
 16%|█▌        | 32/200 [00:01<00:10, 16.43it/s]
 18%|█▊        | 35/200 [00:01<00:08, 18.79it/s]
 19%|█▉        | 38/200 [00:02<00:08, 19.17it/s]
 20%|██        | 41/200 [00:02<00:07, 20.13it/s]
 22%|██▏       | 44/200 [00:02<00:07, 21.30it/s]
 24%|██▎       | 47/200 [00:02<00:06, 22.16it/s]
 25%|██▌       | 50/200 [00:02<00:06, 21.92it/s]
 26%|██▋       | 53/200 [00:02<00:06, 23.28it/s]
 28%|██▊       | 56/200 [00:02<00:05, 24.11it/s]
 30%|██▉       | 59/200 [00:02<00:06, 23.10it/s]
 31%|███       | 62/200 [00:03<00:05, 24.21it/s]
 32%|███▎      | 65/200 [00:03<00:05, 23.00it/s]
 34%|███▍      | 68/200 [00:03<00:06, 21.18it/s]
 36%|███▌      | 71/200 [00:03<00:05, 21.51it/s]
 37%|███▋      | 74/200 [00:03<00:05, 22.06it/s]
 38%|███▊      | 77/200 [00:03<00:05, 20.80it/s]
 40%|████      | 80/200 [00:03<00:05, 21.51it/s]
 42%|████▏     | 83/200 [00:04<00:05, 21.56it/s]
 43%|████▎     | 86/200 [00:04<00:05, 22.31it/s]
 44%|████▍     | 89/200 [00:04<00:04, 22.55it/s]
 46%|████▌     | 92/200 [00:04<00:05, 20.65it/s]
 48%|████▊     | 95/200 [00:04<00:05, 20.70it/s]
 49%|████▉     | 98/200 [00:04<00:04, 21.56it/s]
 50%|█████     | 101/200 [00:04<00:04, 22.24it/s]
 52%|█████▏    | 104/200 [00:04<00:04, 21.08it/s]
 54%|█████▎    | 107/200 [00:05<00:04, 20.47it/s]
 55%|█████▌    | 110/200 [00:05<00:04, 21.14it/s]
 56%|█████▋    | 113/200 [00:05<00:04, 19.95it/s]
 58%|█████▊    | 116/200 [00:05<00:04, 19.72it/s]
 60%|█████▉    | 119/200 [00:05<00:03, 20.82it/s]
 61%|██████    | 122/200 [00:05<00:03, 21.44it/s]
 62%|██████▎   | 125/200 [00:06<00:03, 21.11it/s]
 64%|██████▍   | 128/200 [00:06<00:03, 21.51it/s]
 66%|██████▌   | 131/200 [00:06<00:03, 20.38it/s]
 67%|██████▋   | 134/200 [00:06<00:03, 19.41it/s]
 68%|██████▊   | 136/200 [00:06<00:03, 19.17it/s]
 69%|██████▉   | 138/200 [00:06<00:03, 19.31it/s]
 70%|███████   | 141/200 [00:06<00:02, 20.68it/s]
 72%|███████▏  | 144/200 [00:06<00:02, 21.32it/s]
 74%|███████▎  | 147/200 [00:07<00:02, 22.06it/s]
 75%|███████▌  | 150/200 [00:07<00:02, 20.47it/s]
 76%|███████▋  | 153/200 [00:07<00:02, 20.60it/s]
 78%|███████▊  | 156/200 [00:07<00:02, 19.29it/s]
 80%|███████▉  | 159/200 [00:07<00:02, 18.00it/s]
 81%|████████  | 162/200 [00:07<00:02, 18.54it/s]
 82%|████████▎ | 165/200 [00:08<00:01, 20.24it/s]
 84%|████████▍ | 168/200 [00:08<00:01, 20.26it/s]
 86%|████████▌ | 171/200 [00:08<00:01, 20.03it/s]
 87%|████████▋ | 174/200 [00:08<00:01, 19.76it/s]
 88%|████████▊ | 177/200 [00:08<00:01, 21.06it/s]
 90%|█████████ | 180/200 [00:08<00:00, 20.69it/s]
 92%|█████████▏| 183/200 [00:08<00:00, 20.48it/s]
 93%|█████████▎| 186/200 [00:09<00:00, 20.55it/s]
 94%|█████████▍| 189/200 [00:09<00:00, 20.86it/s]
 96%|█████████▌| 192/200 [00:09<00:00, 20.29it/s]
 98%|█████████▊| 195/200 [00:09<00:00, 20.45it/s]
 99%|█████████▉| 198/200 [00:09<00:00, 20.12it/s]
100%|██████████| 200/200 [00:09<00:00, 20.56it/s]
 Median Scale of 200 frame found to be: 0.7287241091077515
 Fit to reference shape: 

0it [00:00, ?it/s]
6it [00:00, 51.93it/s]
13it [00:00, 58.67it/s]
22it [00:00, 69.12it/s]
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503it [00:05, 86.45it/s]
512it [00:05, 86.74it/s]
522it [00:06, 88.72it/s]
531it [00:06, 86.24it/s]
541it [00:06, 89.14it/s]
550it [00:06, 88.02it/s]
559it [00:06, 88.07it/s]
568it [00:06, 85.44it/s]
577it [00:06, 85.75it/s]
587it [00:06, 88.78it/s]
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653it [00:07, 89.20it/s]
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768it [00:08, 92.95it/s]
778it [00:08, 93.51it/s]
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798it [00:09, 93.95it/s]
809it [00:09, 94.52it/s]
820it [00:09, 98.07it/s]
830it [00:09, 97.32it/s]
842it [00:09, 102.03it/s]
853it [00:09, 100.86it/s]
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886it [00:09, 103.04it/s]
898it [00:09, 105.45it/s]
910it [00:10, 108.28it/s]
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955it [00:10, 105.57it/s]
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1000it [00:10, 105.06it/s]
1011it [00:11, 105.39it/s]
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1102it [00:11, 103.97it/s]
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1147it [00:12, 96.74it/s] 
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1192it [00:12, 105.70it/s]
1204it [00:12, 108.41it/s]
1215it [00:13, 108.33it/s]
1226it [00:13, 105.48it/s]
1238it [00:13, 108.31it/s]
1249it [00:13, 106.72it/s]
1261it [00:13, 108.71it/s]
1272it [00:13, 103.76it/s]
1283it [00:13, 100.73it/s]
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1305it [00:13, 101.14it/s]
1316it [00:14, 101.01it/s]
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1340it [00:14, 107.73it/s]
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1373it [00:14, 106.44it/s]
1384it [00:14, 104.89it/s]
1396it [00:14, 107.24it/s]
1408it [00:14, 110.07it/s]
1421it [00:14, 113.34it/s]
1433it [00:15, 111.84it/s]
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1501it [00:15, 103.12it/s]
1513it [00:15, 105.99it/s]
1525it [00:15, 107.53it/s]
1536it [00:16, 106.01it/s]
1548it [00:16, 107.12it/s]
1559it [00:16, 106.01it/s]
1570it [00:16, 101.20it/s]
1581it [00:16, 100.42it/s]
1592it [00:16, 98.99it/s] 
1602it [00:16, 92.41it/s]
1612it [00:16, 91.43it/s]
1622it [00:16, 92.29it/s]
1632it [00:17, 90.69it/s]
1643it [00:17, 93.55it/s]
1654it [00:17, 95.90it/s]
1665it [00:17, 99.58it/s]
1677it [00:17, 103.21it/s]
1689it [00:17, 106.07it/s]
1700it [00:17, 106.15it/s]
1711it [00:17, 107.08it/s]
1723it [00:17, 108.49it/s]
1735it [00:18, 111.00it/s]
1747it [00:18, 109.15it/s]
1758it [00:18, 108.68it/s]
1769it [00:18, 104.89it/s]
1781it [00:18, 107.04it/s]
1792it [00:18, 107.78it/s]
1803it [00:18, 106.95it/s]
1814it [00:18, 104.21it/s]
1825it [00:18, 104.87it/s]
1836it [00:18, 102.19it/s]
1848it [00:19, 103.92it/s]
1860it [00:19, 107.00it/s]
1871it [00:19, 106.20it/s]
1882it [00:19, 106.28it/s]
1894it [00:19, 106.17it/s]
1905it [00:19, 106.16it/s]
1916it [00:19, 106.27it/s]
1928it [00:19, 107.61it/s]
1939it [00:19, 103.77it/s]
1950it [00:20, 98.03it/s] 
1960it [00:20, 96.41it/s]
1970it [00:20, 92.64it/s]
1980it [00:20, 91.87it/s]
1991it [00:20, 95.83it/s]
2001it [00:20, 88.91it/s]
2011it [00:20, 91.11it/s]
2021it [00:20, 91.70it/s]
2031it [00:20, 90.49it/s]
2041it [00:21, 90.45it/s]
2052it [00:21, 94.81it/s]
2064it [00:21, 99.43it/s]
2075it [00:21, 100.80it/s]
2086it [00:21, 102.86it/s]
2098it [00:21, 107.58it/s]
2110it [00:21, 108.42it/s]
2121it [00:21, 108.83it/s]
2132it [00:21, 107.07it/s]
2144it [00:22, 108.86it/s]
2155it [00:22, 107.12it/s]
2166it [00:22, 101.55it/s]
2177it [00:22, 98.88it/s] 
2187it [00:22, 97.14it/s]
2198it [00:22, 98.42it/s]
2208it [00:22, 96.63it/s]
2219it [00:22, 100.04it/s]
2230it [00:22, 101.84it/s]
2241it [00:23, 101.86it/s]
2252it [00:23, 104.17it/s]
2264it [00:23, 106.27it/s]
2276it [00:23, 107.77it/s]
2287it [00:23, 107.39it/s]
2300it [00:23, 110.32it/s]
2312it [00:23, 110.24it/s]
2324it [00:23, 104.09it/s]
2335it [00:23, 104.95it/s]
2346it [00:23, 105.21it/s]
2357it [00:24, 104.14it/s]
2368it [00:24, 104.57it/s]
2380it [00:24, 108.63it/s]
2391it [00:24, 108.83it/s]
2402it [00:24, 108.31it/s]
2414it [00:24, 111.51it/s]
2426it [00:24, 111.62it/s]
2438it [00:24, 107.26it/s]
2450it [00:24, 108.16it/s]
2461it [00:25, 107.91it/s]
2472it [00:25, 107.28it/s]
2483it [00:25, 102.70it/s]
2494it [00:25, 103.84it/s]
2505it [00:25, 101.92it/s]
2516it [00:25, 103.59it/s]
2528it [00:25, 106.66it/s]
2539it [00:25, 104.12it/s]
2550it [00:25, 105.55it/s]
2561it [00:26, 105.55it/s]
2572it [00:26, 99.74it/s] 
2583it [00:26, 96.88it/s]
2594it [00:26, 100.18it/s]
2605it [00:26, 100.90it/s]
2616it [00:26, 98.23it/s] 
2626it [00:26, 94.18it/s]
2636it [00:26, 89.53it/s]
2646it [00:26, 91.01it/s]
2656it [00:27, 93.17it/s]
2667it [00:27, 94.79it/s]
2679it [00:27, 99.87it/s]
2690it [00:27, 97.96it/s]
2700it [00:27, 97.65it/s]
2711it [00:27, 98.33it/s]
2721it [00:27, 94.22it/s]
2731it [00:27, 90.02it/s]
2741it [00:27, 86.44it/s]
2750it [00:28, 85.06it/s]
2759it [00:28, 85.96it/s]
2768it [00:28, 86.99it/s]
2777it [00:28, 86.60it/s]
2786it [00:28, 86.32it/s]
2796it [00:28, 89.40it/s]
2805it [00:28, 86.39it/s]
2816it [00:28, 90.11it/s]
2826it [00:28, 91.10it/s]
2836it [00:29, 91.94it/s]
2848it [00:29, 98.08it/s]
2858it [00:29, 94.88it/s]
2868it [00:29, 94.17it/s]
2879it [00:29, 97.80it/s]
2889it [00:29, 95.14it/s]
2900it [00:29, 97.49it/s]
2910it [00:29, 97.07it/s]
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2931it [00:29, 98.68it/s]
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2974it [00:30, 100.73it/s]
2985it [00:30, 100.29it/s]
2996it [00:30, 102.85it/s]
3007it [00:30, 98.56it/s] 
3018it [00:30, 99.29it/s]
3029it [00:30, 100.71it/s]
3040it [00:31, 96.00it/s] 
3050it [00:31, 96.68it/s]
3060it [00:31, 97.26it/s]
3070it [00:31, 96.82it/s]
3080it [00:31, 96.56it/s]
3091it [00:31, 98.22it/s]
3102it [00:31, 99.34it/s]
3114it [00:31, 102.86it/s]
3125it [00:31, 100.82it/s]
3136it [00:32, 101.90it/s]
3147it [00:32, 99.70it/s] 
3157it [00:32, 96.85it/s]
3168it [00:32, 97.79it/s]
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3189it [00:32, 96.55it/s]
3200it [00:32, 97.02it/s]
3210it [00:32, 97.41it/s]
3220it [00:32, 98.06it/s]
3231it [00:33, 99.64it/s]
3241it [00:33, 95.91it/s]
3252it [00:33, 97.28it/s]
3262it [00:33, 96.39it/s]
3272it [00:33, 94.93it/s]
3283it [00:33, 98.05it/s]
3293it [00:33, 97.08it/s]
3304it [00:33, 100.54it/s]
3315it [00:33, 102.10it/s]
3326it [00:33, 104.29it/s]
3337it [00:34, 103.92it/s]
3350it [00:34, 109.13it/s]
3361it [00:34, 108.71it/s]
3373it [00:34, 108.09it/s]
3384it [00:34, 106.00it/s]
3396it [00:34, 108.32it/s]
3408it [00:34, 111.49it/s]
3420it [00:34, 113.17it/s]
3432it [00:34, 114.46it/s]
3444it [00:35, 113.25it/s]
3456it [00:35, 113.30it/s]
3468it [00:35, 112.32it/s]
3480it [00:35, 103.61it/s]
3493it [00:35, 108.50it/s]
3505it [00:35, 111.28it/s]
3517it [00:35, 109.06it/s]
3529it [00:35, 112.01it/s]
3541it [00:35, 112.85it/s]
3553it [00:36, 114.06it/s]
3565it [00:36, 110.30it/s]
3577it [00:36, 107.85it/s]
3588it [00:36, 105.38it/s]
3600it [00:36, 106.64it/s]
3611it [00:36, 107.14it/s]
3622it [00:36, 101.17it/s]
3633it [00:36, 103.02it/s]
3644it [00:36, 101.96it/s]
3655it [00:37, 94.54it/s] 
3665it [00:37, 87.37it/s]
3674it [00:37, 87.10it/s]
3685it [00:37, 90.73it/s]
3695it [00:37, 85.30it/s]
3705it [00:37, 86.81it/s]
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Track data saved to /working/fc97c28d-6708-45f0-9ce7-fcb43be5b5d0/processing/data/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/fc97c28d-6708-45f0-9ce7-fcb43be5b5d0/processing/data/laser_aligned.ptd.cbor