=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.9
Input file:  /working/70e436f3-d9f3-4a26-93ee-0b8c7bb57605/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 -=-=-=-=-=-=-
2025-12-21T18:58:25 - INFO:  Reading sonar track took 0.1597902774810791 sec!
2025-12-21T18:58:25 - INFO:  Reading sonar alignment track took {0.0042455196380615234} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  1%|          | 2/200 [00:00<00:10, 19.62it/s]
  2%|▏         | 4/200 [00:00<00:11, 16.90it/s]
  4%|▎         | 7/200 [00:00<00:09, 21.39it/s]
  5%|▌         | 10/200 [00:00<00:08, 22.30it/s]
  6%|▋         | 13/200 [00:00<00:07, 23.40it/s]
  8%|▊         | 16/200 [00:00<00:08, 22.05it/s]
 10%|▉         | 19/200 [00:00<00:09, 20.08it/s]
 11%|█         | 22/200 [00:01<00:08, 20.69it/s]
 12%|█▎        | 25/200 [00:01<00:08, 21.47it/s]
 14%|█▍        | 28/200 [00:01<00:07, 21.75it/s]
 16%|█▌        | 31/200 [00:01<00:07, 23.32it/s]
 17%|█▋        | 34/200 [00:01<00:06, 23.76it/s]
 18%|█▊        | 37/200 [00:01<00:07, 23.27it/s]
 20%|██        | 40/200 [00:01<00:06, 24.44it/s]
 22%|██▏       | 43/200 [00:01<00:06, 24.22it/s]
 23%|██▎       | 46/200 [00:02<00:06, 23.20it/s]
 24%|██▍       | 49/200 [00:02<00:06, 23.63it/s]
 26%|██▌       | 52/200 [00:02<00:06, 22.73it/s]
 28%|██▊       | 55/200 [00:02<00:05, 24.34it/s]
 29%|██▉       | 58/200 [00:02<00:06, 22.83it/s]
 31%|███       | 62/200 [00:02<00:05, 25.22it/s]
 32%|███▎      | 65/200 [00:02<00:05, 25.95it/s]
 34%|███▍      | 68/200 [00:02<00:05, 24.83it/s]
 36%|███▌      | 71/200 [00:03<00:05, 24.24it/s]
 37%|███▋      | 74/200 [00:03<00:04, 25.29it/s]
 38%|███▊      | 77/200 [00:03<00:04, 25.17it/s]
 40%|████      | 80/200 [00:03<00:04, 25.78it/s]
 42%|████▏     | 83/200 [00:03<00:05, 22.54it/s]
 43%|████▎     | 86/200 [00:03<00:05, 22.18it/s]
 44%|████▍     | 89/200 [00:03<00:04, 22.78it/s]
 46%|████▌     | 92/200 [00:03<00:04, 24.01it/s]
 48%|████▊     | 95/200 [00:04<00:04, 23.29it/s]
 49%|████▉     | 98/200 [00:04<00:04, 23.89it/s]
 50%|█████     | 101/200 [00:04<00:04, 23.07it/s]
 52%|█████▏    | 104/200 [00:04<00:04, 23.16it/s]
 54%|█████▎    | 107/200 [00:04<00:03, 24.75it/s]
 55%|█████▌    | 110/200 [00:04<00:03, 23.91it/s]
 56%|█████▋    | 113/200 [00:05<00:05, 16.76it/s]
 58%|█████▊    | 116/200 [00:05<00:04, 17.36it/s]
 60%|█████▉    | 119/200 [00:05<00:04, 18.42it/s]
 61%|██████    | 122/200 [00:05<00:03, 19.81it/s]
 62%|██████▎   | 125/200 [00:05<00:03, 21.22it/s]
 64%|██████▍   | 128/200 [00:05<00:03, 21.52it/s]
 66%|██████▌   | 131/200 [00:05<00:03, 21.98it/s]
 67%|██████▋   | 134/200 [00:05<00:02, 22.56it/s]
 68%|██████▊   | 137/200 [00:06<00:02, 23.56it/s]
 70%|███████   | 140/200 [00:06<00:02, 24.47it/s]
 72%|███████▏  | 143/200 [00:06<00:02, 24.91it/s]
 73%|███████▎  | 146/200 [00:06<00:02, 23.99it/s]
 74%|███████▍  | 149/200 [00:06<00:02, 24.53it/s]
 76%|███████▌  | 152/200 [00:06<00:02, 23.91it/s]
 78%|███████▊  | 155/200 [00:06<00:01, 24.09it/s]
 79%|███████▉  | 158/200 [00:06<00:01, 23.45it/s]
 80%|████████  | 161/200 [00:07<00:01, 22.70it/s]
 82%|████████▏ | 164/200 [00:07<00:01, 22.55it/s]
 84%|████████▎ | 167/200 [00:07<00:01, 22.85it/s]
 85%|████████▌ | 170/200 [00:07<00:01, 23.12it/s]
 86%|████████▋ | 173/200 [00:07<00:01, 24.11it/s]
 88%|████████▊ | 176/200 [00:07<00:00, 25.55it/s]
 90%|████████▉ | 179/200 [00:07<00:00, 25.15it/s]
 91%|█████████ | 182/200 [00:07<00:00, 24.47it/s]
 92%|█████████▎| 185/200 [00:08<00:00, 24.43it/s]
 94%|█████████▍| 188/200 [00:08<00:00, 25.09it/s]
 96%|█████████▌| 191/200 [00:08<00:00, 24.33it/s]
 97%|█████████▋| 194/200 [00:08<00:00, 25.66it/s]
 98%|█████████▊| 197/200 [00:08<00:00, 25.21it/s]
100%|██████████| 200/200 [00:08<00:00, 22.89it/s]
100%|██████████| 200/200 [00:08<00:00, 23.03it/s]
 Median Scale of 200 frame found to be: 0.905839108548079
 Fit to reference shape: 

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15it [00:00, 74.51it/s]
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523it [00:06, 78.37it/s]
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548it [00:06, 79.55it/s]
557it [00:06, 81.85it/s]
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575it [00:07, 81.91it/s]
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636it [00:07, 68.01it/s]
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671it [00:08, 74.70it/s]
680it [00:08, 78.69it/s]
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704it [00:08, 75.45it/s]
713it [00:08, 78.97it/s]
722it [00:09, 82.03it/s]
732it [00:09, 85.68it/s]
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761it [00:09, 92.02it/s]
771it [00:09, 92.36it/s]
781it [00:09, 93.63it/s]
791it [00:09, 90.59it/s]
801it [00:09, 83.79it/s]
812it [00:10, 89.21it/s]
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832it [00:10, 89.71it/s]
842it [00:10, 91.64it/s]
852it [00:10, 91.97it/s]
863it [00:10, 94.90it/s]
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893it [00:10, 93.09it/s]
903it [00:11, 84.62it/s]
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1085it [00:13, 81.94it/s]
1094it [00:13, 83.91it/s]
1103it [00:13, 83.13it/s]
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1122it [00:13, 84.55it/s]
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1466it [00:17, 96.64it/s] 
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1520it [00:17, 99.66it/s]
1531it [00:17, 102.30it/s]
1542it [00:17, 101.65it/s]
1553it [00:17, 99.02it/s] 
1565it [00:18, 103.08it/s]
1577it [00:18, 102.86it/s]
1588it [00:18, 104.45it/s]
1600it [00:18, 107.94it/s]
1611it [00:18, 104.40it/s]
1622it [00:18, 103.78it/s]
1633it [00:18, 100.69it/s]
1644it [00:18, 101.90it/s]
1656it [00:18, 106.04it/s]
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1678it [00:19, 100.79it/s]
1689it [00:19, 90.92it/s] 
1699it [00:19, 83.18it/s]
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1754it [00:20, 86.62it/s]
1764it [00:20, 89.32it/s]
1774it [00:20, 86.91it/s]
1784it [00:20, 87.72it/s]
1793it [00:20, 86.25it/s]
1802it [00:20, 80.44it/s]
1812it [00:20, 85.69it/s]
1821it [00:20, 76.34it/s]
1830it [00:21, 78.79it/s]
1839it [00:21, 76.85it/s]
1849it [00:21, 82.52it/s]
1858it [00:21, 80.34it/s]
1868it [00:21, 83.50it/s]
1878it [00:21, 86.95it/s]
1888it [00:21, 88.61it/s]
1899it [00:21, 93.47it/s]
1910it [00:21, 96.86it/s]
1923it [00:22, 104.52it/s]
1935it [00:22, 107.00it/s]
1947it [00:22, 109.79it/s]
1959it [00:22, 100.11it/s]
1970it [00:22, 102.47it/s]
1981it [00:22, 95.88it/s] 
1992it [00:22, 98.95it/s]
2004it [00:22, 102.70it/s]
2015it [00:22, 99.93it/s] 
2027it [00:23, 103.66it/s]
2038it [00:23, 100.23it/s]
2049it [00:23, 101.29it/s]
2061it [00:23, 105.93it/s]
2072it [00:23, 105.66it/s]
2083it [00:23, 105.43it/s]
2096it [00:23, 111.50it/s]
2108it [00:23, 102.94it/s]
2119it [00:23, 99.75it/s] 
2132it [00:24, 105.31it/s]
2143it [00:24, 101.69it/s]
2154it [00:24, 98.73it/s] 
2166it [00:24, 102.28it/s]
2177it [00:24, 98.02it/s] 
2187it [00:24, 95.93it/s]
2197it [00:24, 96.80it/s]
2207it [00:24, 97.45it/s]
2218it [00:24, 100.25it/s]
2229it [00:25, 98.23it/s] 
2239it [00:25, 82.92it/s]
2249it [00:25, 87.02it/s]
2261it [00:25, 95.23it/s]
2271it [00:25, 89.77it/s]
2281it [00:25, 90.59it/s]
2292it [00:25, 95.07it/s]
2302it [00:25, 90.89it/s]
2312it [00:26, 85.44it/s]
2321it [00:26, 85.74it/s]
2331it [00:26, 87.36it/s]
2340it [00:26, 84.65it/s]
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2405it [00:26, 98.83it/s] 
2415it [00:27, 98.29it/s]
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2446it [00:27, 95.09it/s]
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2466it [00:27, 88.11it/s]
2476it [00:27, 90.22it/s]
2487it [00:27, 92.41it/s]
2497it [00:28, 83.49it/s]
2506it [00:28, 75.07it/s]
2515it [00:28, 77.99it/s]
2524it [00:28, 76.48it/s]
2532it [00:28, 75.54it/s]
2540it [00:28, 76.61it/s]
2550it [00:28, 81.57it/s]
2559it [00:28, 77.69it/s]
2567it [00:29, 72.17it/s]
2575it [00:29, 73.04it/s]
2583it [00:29, 71.35it/s]
2591it [00:29, 68.13it/s]
2600it [00:29, 68.84it/s]
2609it [00:29, 70.95it/s]
2619it [00:29, 77.36it/s]
2629it [00:29, 82.49it/s]
2638it [00:29, 82.27it/s]
2647it [00:30, 83.05it/s]
2656it [00:30, 78.47it/s]
2666it [00:30, 80.61it/s]
2675it [00:30, 81.34it/s]
2686it [00:30, 87.93it/s]
2695it [00:30, 84.04it/s]
2704it [00:30, 79.63it/s]
2716it [00:30, 88.55it/s]
2725it [00:30, 84.15it/s]
2734it [00:31, 83.12it/s]
2743it [00:31, 84.48it/s]
2752it [00:31, 85.74it/s]
2761it [00:31, 83.84it/s]
2770it [00:31, 82.23it/s]
2781it [00:31, 89.04it/s]
2790it [00:31, 84.23it/s]
2799it [00:31, 77.27it/s]
2807it [00:31, 74.65it/s]
2817it [00:32, 79.05it/s]
2825it [00:32, 77.54it/s]
2833it [00:32, 67.74it/s]
2842it [00:32, 72.33it/s]
2851it [00:32, 76.03it/s]
2859it [00:32, 68.08it/s]
2867it [00:32, 69.67it/s]
2877it [00:32, 76.41it/s]
2886it [00:33, 80.05it/s]
2895it [00:33, 79.44it/s]
2904it [00:33, 80.14it/s]
2913it [00:33, 82.86it/s]
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2996it [00:34, 77.42it/s]
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3041it [00:34, 79.16it/s]
3052it [00:35, 85.31it/s]
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3070it [00:35, 83.58it/s]
3081it [00:35, 89.14it/s]
3090it [00:35, 88.07it/s]
3099it [00:35, 87.04it/s]
3109it [00:35, 89.51it/s]
3118it [00:35, 85.92it/s]
3127it [00:35, 84.27it/s]
3136it [00:36, 83.41it/s]
3145it [00:36, 81.23it/s]
3154it [00:36, 81.82it/s]
3165it [00:36, 86.56it/s]
3174it [00:36, 83.52it/s]
3184it [00:36, 86.54it/s]
3193it [00:36, 84.74it/s]
3202it [00:36, 81.83it/s]
3211it [00:36, 82.53it/s]
3222it [00:37, 87.73it/s]
3233it [00:37, 92.71it/s]
3243it [00:37, 87.35it/s]
3254it [00:37, 91.08it/s]
3265it [00:37, 93.51it/s]
3275it [00:37, 94.01it/s]
3285it [00:37, 92.16it/s]
3295it [00:37, 85.33it/s]
3304it [00:37, 84.79it/s]
3315it [00:38, 89.68it/s]
3325it [00:38, 82.09it/s]
3334it [00:38, 80.38it/s]
3343it [00:38, 80.41it/s]
3353it [00:38, 84.80it/s]
3362it [00:38, 82.67it/s]
3371it [00:38, 81.64it/s]
3382it [00:38, 88.75it/s]
3391it [00:39, 83.20it/s]
3400it [00:39, 81.42it/s]
3410it [00:39, 83.09it/s]
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8432it [01:34, 102.07it/s]
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Track data saved to /working/70e436f3-d9f3-4a26-93ee-0b8c7bb57605/processing/data/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/70e436f3-d9f3-4a26-93ee-0b8c7bb57605/processing/data/laser_aligned.ptd.cbor