=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.9
Input file:  /working/07aa16f3-c314-40ee-a137-c0e002501ad2/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 -=-=-=-=-=-=-
2025-12-22T00:58:42 - INFO:  Reading sonar track took 0.14616084098815918 sec!
2025-12-22T00:58:42 - INFO:  Reading sonar alignment track took {0.0006287097930908203} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  2%|▏         | 3/200 [00:00<00:09, 21.69it/s]
  3%|▎         | 6/200 [00:00<00:08, 21.57it/s]
  4%|▍         | 9/200 [00:00<00:09, 20.44it/s]
  6%|▌         | 12/200 [00:00<00:08, 22.11it/s]
  8%|▊         | 15/200 [00:00<00:07, 23.37it/s]
  9%|▉         | 18/200 [00:00<00:08, 21.40it/s]
 10%|█         | 21/200 [00:00<00:08, 22.29it/s]
 12%|█▏        | 24/200 [00:01<00:08, 20.56it/s]
 14%|█▎        | 27/200 [00:01<00:08, 20.75it/s]
 15%|█▌        | 30/200 [00:01<00:08, 20.08it/s]
 16%|█▋        | 33/200 [00:01<00:07, 21.14it/s]
 18%|█▊        | 36/200 [00:01<00:07, 23.02it/s]
 20%|█▉        | 39/200 [00:01<00:06, 23.39it/s]
 21%|██        | 42/200 [00:01<00:06, 23.43it/s]
 22%|██▎       | 45/200 [00:02<00:06, 23.56it/s]
 24%|██▍       | 48/200 [00:02<00:06, 23.13it/s]
 26%|██▌       | 51/200 [00:02<00:06, 23.29it/s]
 27%|██▋       | 54/200 [00:02<00:06, 23.88it/s]
 28%|██▊       | 57/200 [00:02<00:05, 25.41it/s]
 30%|███       | 60/200 [00:02<00:05, 23.56it/s]
 32%|███▏      | 63/200 [00:02<00:05, 23.28it/s]
 33%|███▎      | 66/200 [00:02<00:06, 21.88it/s]
 34%|███▍      | 69/200 [00:03<00:06, 20.58it/s]
 36%|███▌      | 72/200 [00:03<00:06, 20.75it/s]
 38%|███▊      | 75/200 [00:03<00:05, 21.47it/s]
 39%|███▉      | 78/200 [00:03<00:06, 20.10it/s]
 40%|████      | 81/200 [00:03<00:05, 21.56it/s]
 42%|████▏     | 84/200 [00:03<00:05, 21.14it/s]
 44%|████▎     | 87/200 [00:03<00:04, 22.81it/s]
 45%|████▌     | 90/200 [00:04<00:05, 21.89it/s]
 47%|████▋     | 94/200 [00:04<00:04, 23.75it/s]
 48%|████▊     | 97/200 [00:04<00:04, 22.54it/s]
 50%|█████     | 100/200 [00:04<00:04, 22.15it/s]
 52%|█████▏    | 103/200 [00:04<00:04, 21.97it/s]
 53%|█████▎    | 106/200 [00:04<00:04, 23.04it/s]
 55%|█████▍    | 109/200 [00:04<00:03, 22.81it/s]
 56%|█████▌    | 112/200 [00:05<00:03, 23.60it/s]
 57%|█████▊    | 115/200 [00:05<00:03, 23.50it/s]
 59%|█████▉    | 118/200 [00:05<00:03, 21.75it/s]
 60%|██████    | 121/200 [00:05<00:03, 21.54it/s]
 62%|██████▏   | 124/200 [00:05<00:03, 22.22it/s]
 64%|██████▎   | 127/200 [00:05<00:03, 23.39it/s]
 65%|██████▌   | 130/200 [00:05<00:02, 23.81it/s]
 66%|██████▋   | 133/200 [00:05<00:02, 23.73it/s]
 68%|██████▊   | 136/200 [00:06<00:02, 23.98it/s]
 70%|██████▉   | 139/200 [00:06<00:02, 22.93it/s]
 71%|███████   | 142/200 [00:06<00:02, 22.51it/s]
 72%|███████▎  | 145/200 [00:06<00:02, 22.09it/s]
 74%|███████▍  | 148/200 [00:06<00:02, 23.60it/s]
 76%|███████▌  | 151/200 [00:06<00:02, 23.82it/s]
 77%|███████▋  | 154/200 [00:06<00:01, 24.21it/s]
 78%|███████▊  | 157/200 [00:06<00:01, 22.84it/s]
 80%|████████  | 160/200 [00:07<00:01, 22.76it/s]
 82%|████████▏ | 163/200 [00:07<00:01, 22.85it/s]
 83%|████████▎ | 166/200 [00:07<00:01, 24.08it/s]
 84%|████████▍ | 169/200 [00:07<00:01, 25.14it/s]
 86%|████████▋ | 173/200 [00:07<00:01, 25.99it/s]
 88%|████████▊ | 176/200 [00:07<00:00, 24.84it/s]
 90%|████████▉ | 179/200 [00:07<00:00, 23.37it/s]
 91%|█████████ | 182/200 [00:08<00:00, 22.71it/s]
 92%|█████████▎| 185/200 [00:08<00:00, 23.75it/s]
 94%|█████████▍| 188/200 [00:08<00:00, 23.93it/s]
 96%|█████████▌| 191/200 [00:08<00:00, 24.01it/s]
 97%|█████████▋| 194/200 [00:08<00:00, 24.08it/s]
 98%|█████████▊| 197/200 [00:08<00:00, 21.66it/s]
100%|██████████| 200/200 [00:08<00:00, 19.66it/s]
100%|██████████| 200/200 [00:08<00:00, 22.55it/s]
 Median Scale of 200 frame found to be: 0.7274939825825376
 Fit to reference shape: 

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19it [00:00, 89.65it/s]
29it [00:00, 93.64it/s]
39it [00:00, 88.74it/s]
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57it [00:00, 87.25it/s]
67it [00:00, 88.29it/s]
78it [00:00, 91.93it/s]
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187it [00:01, 98.02it/s] 
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221it [00:02, 105.19it/s]
232it [00:02, 103.98it/s]
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519it [00:05, 113.03it/s]
531it [00:05, 107.61it/s]
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567it [00:05, 110.47it/s]
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591it [00:05, 111.43it/s]
603it [00:05, 107.04it/s]
614it [00:05, 106.58it/s]
627it [00:06, 109.82it/s]
639it [00:06, 109.80it/s]
650it [00:06, 108.01it/s]
661it [00:06, 105.64it/s]
672it [00:06, 103.54it/s]
683it [00:06, 102.64it/s]
694it [00:06, 101.96it/s]
705it [00:06, 102.52it/s]
716it [00:06, 104.12it/s]
727it [00:07, 102.77it/s]
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751it [00:07, 106.70it/s]
762it [00:07, 103.68it/s]
773it [00:07, 104.35it/s]
785it [00:07, 106.94it/s]
796it [00:07, 105.34it/s]
808it [00:07, 108.44it/s]
819it [00:07, 106.27it/s]
830it [00:08, 105.45it/s]
842it [00:08, 107.16it/s]
854it [00:08, 108.69it/s]
866it [00:08, 110.88it/s]
878it [00:08, 109.51it/s]
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900it [00:08, 102.62it/s]
911it [00:08, 99.64it/s] 
923it [00:08, 103.66it/s]
935it [00:08, 106.15it/s]
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958it [00:09, 108.73it/s]
970it [00:09, 109.50it/s]
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993it [00:09, 105.90it/s]
1004it [00:09, 105.44it/s]
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1026it [00:09, 102.45it/s]
1038it [00:09, 105.84it/s]
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1265it [00:12, 106.60it/s]
1276it [00:12, 107.14it/s]
1287it [00:12, 106.60it/s]
1298it [00:12, 104.20it/s]
1309it [00:12, 104.48it/s]
1320it [00:12, 98.92it/s] 
1330it [00:12, 96.07it/s]
1341it [00:12, 99.90it/s]
1352it [00:12, 98.60it/s]
1362it [00:13, 96.53it/s]
1373it [00:13, 99.69it/s]
1384it [00:13, 102.00it/s]
1395it [00:13, 102.59it/s]
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1555it [00:14, 103.38it/s]
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1713it [00:16, 107.05it/s]
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1749it [00:16, 111.75it/s]
1761it [00:16, 114.02it/s]
1773it [00:16, 114.91it/s]
1785it [00:17, 114.82it/s]
1797it [00:17, 111.65it/s]
1809it [00:17, 108.12it/s]
1821it [00:17, 108.73it/s]
1832it [00:17, 101.31it/s]
1844it [00:17, 103.32it/s]
1856it [00:17, 106.36it/s]
1868it [00:17, 109.80it/s]
1880it [00:17, 102.71it/s]
1891it [00:18, 104.34it/s]
1902it [00:18, 105.56it/s]
1913it [00:18, 102.34it/s]
1924it [00:18, 103.49it/s]
1936it [00:18, 105.87it/s]
1947it [00:18, 105.38it/s]
1959it [00:18, 107.35it/s]
1970it [00:18, 101.77it/s]
1981it [00:18, 103.89it/s]
1992it [00:19, 103.70it/s]
2003it [00:19, 103.67it/s]
2014it [00:19, 104.38it/s]
2026it [00:19, 103.71it/s]
2037it [00:19, 104.00it/s]
2048it [00:19, 104.03it/s]
2059it [00:19, 101.79it/s]
2070it [00:19, 100.06it/s]
2081it [00:19, 99.38it/s] 
2091it [00:20, 87.66it/s]
2103it [00:20, 94.64it/s]
2115it [00:20, 99.60it/s]
2126it [00:20, 100.30it/s]
2137it [00:20, 102.49it/s]
2148it [00:20, 96.49it/s] 
2158it [00:20, 96.53it/s]
2170it [00:20, 97.98it/s]
2181it [00:20, 100.61it/s]
2192it [00:21, 93.43it/s] 
2202it [00:21, 94.59it/s]
2212it [00:21, 94.75it/s]
2222it [00:21, 92.30it/s]
2232it [00:21, 91.20it/s]
2242it [00:21, 82.02it/s]
2252it [00:21, 85.08it/s]
2263it [00:21, 90.10it/s]
2275it [00:22, 95.98it/s]
2286it [00:22, 97.79it/s]
2297it [00:22, 100.51it/s]
2309it [00:22, 104.37it/s]
2320it [00:22, 100.05it/s]
2331it [00:22, 98.84it/s] 
2341it [00:22, 98.66it/s]
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2363it [00:22, 96.04it/s] 
2373it [00:22, 95.83it/s]
2383it [00:23, 94.07it/s]
2393it [00:23, 95.55it/s]
2406it [00:23, 104.31it/s]
2417it [00:23, 102.26it/s]
2428it [00:23, 102.44it/s]
2439it [00:23, 98.83it/s] 
2450it [00:23, 98.78it/s]
2460it [00:23, 98.96it/s]
2472it [00:23, 101.67it/s]
2483it [00:24, 103.14it/s]
2494it [00:24, 101.62it/s]
2505it [00:24, 101.42it/s]
2517it [00:24, 104.23it/s]
2528it [00:24, 105.49it/s]
2540it [00:24, 106.95it/s]
2551it [00:24, 104.58it/s]
2562it [00:24, 105.61it/s]
2574it [00:24, 108.81it/s]
2585it [00:25, 104.56it/s]
2596it [00:25, 102.14it/s]
2607it [00:25, 101.01it/s]
2619it [00:25, 104.19it/s]
2631it [00:25, 104.31it/s]
2643it [00:25, 106.67it/s]
2655it [00:25, 110.27it/s]
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2679it [00:25, 108.48it/s]
2691it [00:26, 109.79it/s]
2702it [00:26, 101.97it/s]
2713it [00:26, 99.89it/s] 
2724it [00:26, 94.89it/s]
2736it [00:26, 100.41it/s]
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2758it [00:26, 97.45it/s] 
2769it [00:26, 99.74it/s]
2780it [00:26, 93.92it/s]
2790it [00:27, 90.54it/s]
2800it [00:27, 89.28it/s]
2810it [00:27, 89.79it/s]
2821it [00:27, 93.81it/s]
2831it [00:27, 89.26it/s]
2840it [00:27, 87.91it/s]
2849it [00:27, 87.27it/s]
2860it [00:27, 91.93it/s]
2871it [00:27, 94.91it/s]
2881it [00:28, 75.86it/s]
2890it [00:28, 78.46it/s]
2900it [00:28, 83.72it/s]
2911it [00:28, 89.34it/s]
2921it [00:28, 92.24it/s]
2931it [00:28, 91.92it/s]
2941it [00:28, 93.60it/s]
2951it [00:28, 95.26it/s]
2961it [00:29, 92.01it/s]
2971it [00:29, 93.80it/s]
2981it [00:29, 85.64it/s]
2991it [00:29, 86.74it/s]
3000it [00:29, 84.71it/s]
3009it [00:29, 85.68it/s]
3018it [00:29, 83.97it/s]
3028it [00:29, 85.70it/s]
3037it [00:29, 81.53it/s]
3046it [00:30, 83.22it/s]
3057it [00:30, 90.10it/s]
3069it [00:30, 96.87it/s]
3079it [00:30, 95.92it/s]
3091it [00:30, 100.14it/s]
3102it [00:30, 102.66it/s]
3113it [00:30, 100.40it/s]
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3134it [00:30, 99.24it/s]
3146it [00:30, 102.20it/s]
3157it [00:31, 104.27it/s]
3169it [00:31, 105.08it/s]
3180it [00:31, 103.10it/s]
3191it [00:31, 101.69it/s]
3204it [00:31, 106.70it/s]
3215it [00:31, 97.93it/s] 
3225it [00:31, 95.46it/s]
3236it [00:31, 97.37it/s]
3247it [00:32, 97.90it/s]
3257it [00:32, 96.73it/s]
3267it [00:32, 91.20it/s]
3278it [00:32, 93.97it/s]
3288it [00:32, 87.27it/s]
3298it [00:32, 89.12it/s]
3308it [00:32, 91.85it/s]
3318it [00:32, 90.85it/s]
3328it [00:32, 92.57it/s]
3339it [00:33, 95.85it/s]
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3359it [00:33, 94.94it/s]
3371it [00:33, 101.85it/s]
3382it [00:33, 101.42it/s]
3393it [00:33, 103.75it/s]
3405it [00:33, 106.22it/s]
3416it [00:33, 100.86it/s]
3427it [00:33, 101.92it/s]
3438it [00:33, 101.85it/s]
3450it [00:34, 106.25it/s]
3461it [00:34, 73.71it/s] 
3470it [00:34, 72.32it/s]
3480it [00:34, 76.89it/s]
3490it [00:34, 80.66it/s]
3501it [00:34, 86.77it/s]
3512it [00:34, 92.53it/s]
3522it [00:35, 94.49it/s]
3532it [00:35, 94.07it/s]
3545it [00:35, 102.65it/s]
3556it [00:35, 102.22it/s]
3568it [00:35, 105.19it/s]
3579it [00:35, 95.34it/s] 
3591it [00:35, 100.18it/s]
3602it [00:35, 100.84it/s]
3613it [00:35, 99.80it/s] 
3624it [00:36, 99.19it/s]
3636it [00:36, 101.44it/s]
3647it [00:36, 95.09it/s] 
3657it [00:36, 94.14it/s]
3667it [00:36, 93.19it/s]
3677it [00:36, 94.85it/s]
3687it [00:36, 93.05it/s]
3697it [00:36, 91.70it/s]
3708it [00:36, 96.11it/s]
3718it [00:37, 87.55it/s]
3729it [00:37, 91.21it/s]
3739it [00:37, 91.50it/s]
3749it [00:37, 91.44it/s]
3759it [00:37, 88.83it/s]
3771it [00:37, 94.21it/s]
3781it [00:37, 93.00it/s]
3792it [00:37, 94.12it/s]
3803it [00:37, 95.50it/s]
3813it [00:38, 79.24it/s]
3822it [00:38, 79.47it/s]
3831it [00:38, 78.51it/s]
3840it [00:38, 76.84it/s]
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Track data saved to /working/07aa16f3-c314-40ee-a137-c0e002501ad2/processing/data/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/07aa16f3-c314-40ee-a137-c0e002501ad2/processing/data/laser_aligned.ptd.cbor