=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.9
Input file:  /working/932f9d06-87a4-4ada-a0f3-6cc88d4be86e/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 -=-=-=-=-=-=-
2025-12-21T18:58:08 - INFO:  Reading sonar track took 0.13487553596496582 sec!
2025-12-21T18:58:08 - INFO:  Reading sonar alignment track took {0.0005733966827392578} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  1%|          | 2/200 [00:00<00:11, 16.52it/s]
  2%|▎         | 5/200 [00:00<00:09, 21.29it/s]
  4%|▍         | 8/200 [00:00<00:08, 23.49it/s]
  6%|▌         | 11/200 [00:00<00:10, 18.43it/s]
  7%|▋         | 14/200 [00:00<00:09, 20.54it/s]
  8%|▊         | 17/200 [00:00<00:08, 22.61it/s]
 10%|█         | 20/200 [00:00<00:07, 24.21it/s]
 12%|█▏        | 23/200 [00:01<00:07, 25.02it/s]
 14%|█▎        | 27/200 [00:01<00:06, 26.99it/s]
 15%|█▌        | 30/200 [00:01<00:06, 25.18it/s]
 16%|█▋        | 33/200 [00:01<00:06, 23.98it/s]
 18%|█▊        | 37/200 [00:01<00:06, 25.68it/s]
 20%|██        | 40/200 [00:01<00:06, 24.94it/s]
 22%|██▏       | 43/200 [00:01<00:06, 24.16it/s]
 23%|██▎       | 46/200 [00:01<00:06, 24.42it/s]
 24%|██▍       | 49/200 [00:02<00:05, 25.54it/s]
 26%|██▌       | 52/200 [00:02<00:05, 25.51it/s]
 28%|██▊       | 55/200 [00:02<00:06, 23.90it/s]
 29%|██▉       | 58/200 [00:02<00:06, 23.35it/s]
 30%|███       | 61/200 [00:02<00:06, 22.37it/s]
 32%|███▏      | 64/200 [00:02<00:05, 23.12it/s]
 34%|███▎      | 67/200 [00:02<00:05, 23.82it/s]
 35%|███▌      | 70/200 [00:02<00:05, 24.00it/s]
 37%|███▋      | 74/200 [00:03<00:04, 26.00it/s]
 38%|███▊      | 77/200 [00:03<00:04, 26.95it/s]
 40%|████      | 80/200 [00:03<00:04, 24.67it/s]
 42%|████▏     | 83/200 [00:03<00:05, 22.49it/s]
 43%|████▎     | 86/200 [00:03<00:05, 21.21it/s]
 44%|████▍     | 89/200 [00:03<00:05, 21.81it/s]
 46%|████▌     | 92/200 [00:03<00:04, 21.73it/s]
 48%|████▊     | 95/200 [00:04<00:04, 22.33it/s]
 49%|████▉     | 98/200 [00:04<00:04, 23.25it/s]
 50%|█████     | 101/200 [00:04<00:04, 24.12it/s]
 52%|█████▏    | 104/200 [00:04<00:03, 24.82it/s]
 54%|█████▎    | 107/200 [00:04<00:03, 24.82it/s]
 55%|█████▌    | 110/200 [00:04<00:03, 25.07it/s]
 56%|█████▋    | 113/200 [00:04<00:03, 25.74it/s]
 58%|█████▊    | 116/200 [00:04<00:03, 26.16it/s]
 60%|█████▉    | 119/200 [00:04<00:03, 25.75it/s]
 61%|██████    | 122/200 [00:05<00:03, 25.96it/s]
 62%|██████▎   | 125/200 [00:05<00:03, 23.48it/s]
 64%|██████▍   | 128/200 [00:05<00:02, 24.29it/s]
 66%|██████▌   | 131/200 [00:05<00:02, 24.30it/s]
 67%|██████▋   | 134/200 [00:05<00:02, 24.30it/s]
 68%|██████▊   | 137/200 [00:05<00:02, 22.01it/s]
 70%|███████   | 140/200 [00:05<00:02, 23.81it/s]
 72%|███████▏  | 143/200 [00:06<00:02, 21.01it/s]
 73%|███████▎  | 146/200 [00:06<00:02, 21.98it/s]
 75%|███████▌  | 150/200 [00:06<00:02, 24.23it/s]
 76%|███████▋  | 153/200 [00:06<00:01, 23.58it/s]
 78%|███████▊  | 156/200 [00:06<00:01, 22.93it/s]
 80%|███████▉  | 159/200 [00:06<00:01, 22.57it/s]
 81%|████████  | 162/200 [00:06<00:01, 21.87it/s]
 82%|████████▎ | 165/200 [00:06<00:01, 23.41it/s]
 84%|████████▍ | 168/200 [00:07<00:01, 24.42it/s]
 86%|████████▌ | 171/200 [00:07<00:01, 23.67it/s]
 87%|████████▋ | 174/200 [00:07<00:01, 23.26it/s]
 88%|████████▊ | 177/200 [00:07<00:00, 24.12it/s]
 90%|█████████ | 180/200 [00:07<00:00, 22.03it/s]
 92%|█████████▏| 183/200 [00:07<00:00, 23.39it/s]
 94%|█████████▎| 187/200 [00:07<00:00, 24.24it/s]
 95%|█████████▌| 190/200 [00:08<00:00, 24.55it/s]
 96%|█████████▋| 193/200 [00:08<00:00, 25.45it/s]
 98%|█████████▊| 196/200 [00:08<00:00, 26.41it/s]
100%|█████████▉| 199/200 [00:08<00:00, 22.37it/s]
100%|██████████| 200/200 [00:08<00:00, 23.71it/s]
 Median Scale of 200 frame found to be: 0.8969318587608177
 Fit to reference shape: 

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17it [00:00, 83.13it/s]
26it [00:00, 83.65it/s]
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55it [00:00, 90.10it/s]
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137it [00:01, 88.23it/s]
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186it [00:02, 90.49it/s]
196it [00:02, 86.45it/s]
205it [00:02, 84.85it/s]
215it [00:02, 87.49it/s]
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511it [00:06, 84.80it/s]
522it [00:06, 90.04it/s]
532it [00:06, 89.80it/s]
542it [00:06, 84.67it/s]
553it [00:06, 89.74it/s]
563it [00:06, 85.41it/s]
573it [00:06, 87.55it/s]
583it [00:06, 90.30it/s]
593it [00:06, 90.52it/s]
603it [00:07, 89.95it/s]
615it [00:07, 96.20it/s]
625it [00:07, 95.19it/s]
635it [00:07, 94.25it/s]
647it [00:07, 99.59it/s]
657it [00:07, 98.48it/s]
667it [00:07, 95.36it/s]
677it [00:07, 91.99it/s]
687it [00:07, 88.27it/s]
697it [00:08, 88.46it/s]
706it [00:08, 85.40it/s]
719it [00:08, 96.90it/s]
729it [00:08, 91.97it/s]
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750it [00:08, 96.55it/s]
760it [00:08, 95.57it/s]
770it [00:08, 90.91it/s]
782it [00:08, 97.27it/s]
793it [00:09, 98.70it/s]
803it [00:09, 92.86it/s]
813it [00:09, 92.26it/s]
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834it [00:09, 88.65it/s]
843it [00:09, 86.11it/s]
854it [00:09, 91.31it/s]
864it [00:09, 90.02it/s]
874it [00:09, 89.28it/s]
885it [00:10, 93.94it/s]
895it [00:10, 91.71it/s]
905it [00:10, 91.44it/s]
915it [00:10, 88.43it/s]
924it [00:10, 88.73it/s]
933it [00:10, 84.88it/s]
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954it [00:10, 84.94it/s]
963it [00:11, 81.83it/s]
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1125it [00:12, 89.78it/s]
1135it [00:13, 84.92it/s]
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1154it [00:13, 83.10it/s]
1163it [00:13, 78.05it/s]
1172it [00:13, 79.79it/s]
1184it [00:13, 89.55it/s]
1194it [00:13, 80.63it/s]
1204it [00:13, 83.25it/s]
1213it [00:13, 82.38it/s]
1223it [00:14, 85.13it/s]
1232it [00:14, 80.12it/s]
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1269it [00:14, 84.03it/s]
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1432it [00:16, 91.61it/s]
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1504it [00:17, 92.27it/s]
1515it [00:17, 96.15it/s]
1526it [00:17, 96.89it/s]
1538it [00:17, 102.14it/s]
1552it [00:17, 111.33it/s]
1564it [00:17, 113.06it/s]
1576it [00:17, 108.00it/s]
1587it [00:17, 103.49it/s]
1598it [00:18, 88.12it/s] 
1609it [00:18, 91.07it/s]
1619it [00:18, 88.04it/s]
1629it [00:18, 89.46it/s]
1639it [00:18, 89.87it/s]
1649it [00:18, 90.28it/s]
1660it [00:18, 95.56it/s]
1670it [00:18, 91.67it/s]
1681it [00:19, 95.27it/s]
1691it [00:19, 94.67it/s]
1701it [00:19, 90.40it/s]
1711it [00:19, 88.57it/s]
1722it [00:19, 93.01it/s]
1732it [00:19, 91.74it/s]
1742it [00:19, 89.65it/s]
1752it [00:19, 92.01it/s]
1762it [00:19, 90.63it/s]
1772it [00:20, 92.06it/s]
1784it [00:20, 98.80it/s]
1794it [00:20, 93.34it/s]
1806it [00:20, 99.59it/s]
1818it [00:20, 104.01it/s]
1829it [00:20, 93.99it/s] 
1839it [00:20, 92.29it/s]
1852it [00:20, 101.36it/s]
1863it [00:20, 101.97it/s]
1874it [00:21, 95.16it/s] 
1886it [00:21, 99.38it/s]
1897it [00:21, 99.92it/s]
1908it [00:21, 100.40it/s]
1919it [00:21, 103.01it/s]
1930it [00:21, 102.38it/s]
1941it [00:21, 103.84it/s]
1952it [00:21, 102.01it/s]
1963it [00:21, 96.75it/s] 
1973it [00:22, 95.66it/s]
1983it [00:22, 92.50it/s]
1993it [00:22, 85.28it/s]
2002it [00:22, 85.95it/s]
2011it [00:22, 82.55it/s]
2021it [00:22, 86.70it/s]
2030it [00:22, 87.48it/s]
2039it [00:22, 84.73it/s]
2050it [00:22, 90.82it/s]
2060it [00:23, 86.37it/s]
2069it [00:23, 85.14it/s]
2078it [00:23, 85.13it/s]
2090it [00:23, 92.90it/s]
2100it [00:23, 89.54it/s]
2110it [00:23, 87.65it/s]
2121it [00:23, 93.65it/s]
2132it [00:23, 97.95it/s]
2144it [00:23, 103.95it/s]
2155it [00:24, 103.93it/s]
2166it [00:24, 102.22it/s]
2177it [00:24, 90.52it/s] 
2189it [00:24, 97.77it/s]
2202it [00:24, 106.05it/s]
2213it [00:24, 104.49it/s]
2224it [00:24, 104.68it/s]
2235it [00:24, 102.52it/s]
2246it [00:24, 94.01it/s] 
2256it [00:25, 90.26it/s]
2266it [00:25, 90.90it/s]
2276it [00:25, 88.91it/s]
2285it [00:25, 87.43it/s]
2295it [00:25, 89.47it/s]
2307it [00:25, 94.09it/s]
2320it [00:25, 102.09it/s]
2331it [00:25, 102.27it/s]
2342it [00:25, 101.58it/s]
2354it [00:26, 104.32it/s]
2365it [00:26, 87.88it/s] 
2375it [00:26, 85.15it/s]
2388it [00:26, 95.17it/s]
2399it [00:26, 97.81it/s]
2410it [00:26, 90.60it/s]
2420it [00:26, 90.12it/s]
2430it [00:26, 84.21it/s]
2440it [00:27, 87.90it/s]
2449it [00:27, 87.03it/s]
2460it [00:27, 90.80it/s]
2470it [00:27, 90.41it/s]
2481it [00:27, 94.40it/s]
2492it [00:27, 98.53it/s]
2502it [00:27, 94.23it/s]
2512it [00:27, 93.56it/s]
2522it [00:27, 93.57it/s]
2533it [00:28, 96.08it/s]
2543it [00:28, 94.02it/s]
2554it [00:28, 97.69it/s]
2565it [00:28, 99.44it/s]
2575it [00:28, 97.34it/s]
2585it [00:28, 97.49it/s]
2595it [00:28, 95.98it/s]
2605it [00:28, 95.69it/s]
2615it [00:28, 94.39it/s]
2626it [00:29, 95.16it/s]
2636it [00:29, 91.63it/s]
2647it [00:29, 94.43it/s]
2658it [00:29, 97.00it/s]
2669it [00:29, 96.56it/s]
2679it [00:29, 93.38it/s]
2690it [00:29, 97.01it/s]
2700it [00:29, 94.31it/s]
2710it [00:29, 92.93it/s]
2720it [00:30, 83.32it/s]
2729it [00:30, 84.34it/s]
2738it [00:30, 82.07it/s]
2747it [00:30, 75.64it/s]
2758it [00:30, 81.82it/s]
2770it [00:30, 90.49it/s]
2781it [00:30, 92.39it/s]
2791it [00:30, 93.63it/s]
2802it [00:30, 97.77it/s]
2815it [00:31, 105.12it/s]
2826it [00:31, 97.88it/s] 
2838it [00:31, 103.76it/s]
2849it [00:31, 100.87it/s]
2860it [00:31, 95.27it/s] 
2873it [00:31, 102.65it/s]
2884it [00:31, 103.75it/s]
2895it [00:31, 100.09it/s]
2909it [00:31, 108.69it/s]
2921it [00:32, 110.38it/s]
2934it [00:32, 110.94it/s]
2946it [00:32, 112.04it/s]
2958it [00:32, 103.42it/s]
2969it [00:32, 97.39it/s] 
2979it [00:32, 96.15it/s]
2989it [00:32, 96.18it/s]
2999it [00:32, 92.24it/s]
3010it [00:33, 95.93it/s]
3020it [00:33, 93.94it/s]
3030it [00:33, 91.88it/s]
3040it [00:33, 91.91it/s]
3050it [00:33, 92.32it/s]
3060it [00:33, 81.88it/s]
3070it [00:33, 85.35it/s]
3079it [00:33, 80.45it/s]
3089it [00:33, 83.72it/s]
3098it [00:34, 81.74it/s]
3107it [00:34, 73.13it/s]
3115it [00:34, 74.75it/s]
3126it [00:34, 81.70it/s]
3136it [00:34, 85.77it/s]
3146it [00:34, 88.14it/s]
3156it [00:34, 89.64it/s]
3166it [00:34, 91.51it/s]
3176it [00:34, 93.19it/s]
3186it [00:35, 88.55it/s]
3196it [00:35, 87.93it/s]
3205it [00:35, 84.22it/s]
3215it [00:35, 86.84it/s]
3224it [00:35, 85.78it/s]
3233it [00:35, 86.31it/s]
3242it [00:35, 86.73it/s]
3251it [00:35, 85.79it/s]
3261it [00:35, 89.42it/s]
3271it [00:36, 92.15it/s]
3282it [00:36, 94.79it/s]
3293it [00:36, 96.79it/s]
3303it [00:36, 95.04it/s]
3313it [00:36, 92.98it/s]
3323it [00:36, 90.59it/s]
3333it [00:36, 91.17it/s]
3345it [00:36, 95.49it/s]
3355it [00:36, 92.83it/s]
3365it [00:37, 92.30it/s]
3375it [00:37, 94.43it/s]
3385it [00:37, 94.06it/s]
3396it [00:37, 97.89it/s]
3408it [00:37, 97.59it/s]
3420it [00:37, 102.15it/s]
3433it [00:37, 106.43it/s]
3444it [00:37, 104.57it/s]
3455it [00:37, 102.35it/s]
3466it [00:38, 102.96it/s]
3477it [00:38, 101.10it/s]
3489it [00:38, 106.29it/s]
3500it [00:38, 106.21it/s]
3511it [00:38, 105.54it/s]
3522it [00:38, 102.49it/s]
3533it [00:38, 100.75it/s]
3544it [00:38, 96.58it/s] 
3554it [00:38, 95.71it/s]
3565it [00:39, 98.45it/s]
3576it [00:39, 100.82it/s]
3587it [00:39, 97.68it/s] 
3599it [00:39, 102.17it/s]
3610it [00:39, 91.03it/s] 
3621it [00:39, 95.32it/s]
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Track data saved to /working/932f9d06-87a4-4ada-a0f3-6cc88d4be86e/processing/data/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/932f9d06-87a4-4ada-a0f3-6cc88d4be86e/processing/data/laser_aligned.ptd.cbor