=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.9
Input file:  /working/8fddff9a-ed9b-477d-b12a-16e7c5db2d0d/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 -=-=-=-=-=-=-
2025-12-22T01:07:41 - INFO:  Reading sonar track took 0.2242727279663086 sec!
2025-12-22T01:07:41 - INFO:  Reading sonar alignment track took {0.0005810260772705078} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  1%|          | 2/200 [00:00<00:11, 17.41it/s]
  2%|▎         | 5/200 [00:00<00:09, 21.31it/s]
  4%|▍         | 8/200 [00:00<00:08, 21.49it/s]
  6%|▌         | 11/200 [00:00<00:08, 22.19it/s]
  7%|▋         | 14/200 [00:00<00:09, 20.49it/s]
  8%|▊         | 17/200 [00:00<00:07, 22.98it/s]
 10%|█         | 20/200 [00:00<00:08, 21.42it/s]
 12%|█▏        | 23/200 [00:01<00:07, 23.13it/s]
 13%|█▎        | 26/200 [00:01<00:07, 24.61it/s]
 15%|█▌        | 30/200 [00:01<00:06, 27.10it/s]
 16%|█▋        | 33/200 [00:01<00:06, 27.44it/s]
 18%|█▊        | 36/200 [00:01<00:06, 26.35it/s]
 20%|█▉        | 39/200 [00:01<00:05, 27.00it/s]
 21%|██        | 42/200 [00:01<00:06, 25.01it/s]
 22%|██▎       | 45/200 [00:01<00:07, 21.93it/s]
 24%|██▍       | 48/200 [00:02<00:06, 22.69it/s]
 26%|██▌       | 51/200 [00:02<00:06, 24.29it/s]
 27%|██▋       | 54/200 [00:02<00:06, 24.03it/s]
 28%|██▊       | 57/200 [00:02<00:05, 24.31it/s]
 30%|███       | 60/200 [00:02<00:05, 23.78it/s]
 32%|███▏      | 63/200 [00:02<00:05, 23.01it/s]
 33%|███▎      | 66/200 [00:02<00:05, 22.82it/s]
 34%|███▍      | 69/200 [00:02<00:06, 21.68it/s]
 36%|███▌      | 72/200 [00:03<00:05, 22.86it/s]
 38%|███▊      | 75/200 [00:03<00:05, 23.14it/s]
 39%|███▉      | 78/200 [00:03<00:05, 24.10it/s]
 40%|████      | 81/200 [00:03<00:05, 22.05it/s]
 42%|████▏     | 84/200 [00:03<00:04, 23.24it/s]
 44%|████▎     | 87/200 [00:03<00:04, 22.99it/s]
 45%|████▌     | 90/200 [00:03<00:04, 23.17it/s]
 46%|████▋     | 93/200 [00:03<00:04, 22.97it/s]
 48%|████▊     | 96/200 [00:04<00:04, 23.11it/s]
 50%|████▉     | 99/200 [00:04<00:04, 24.07it/s]
 51%|█████     | 102/200 [00:04<00:04, 24.27it/s]
 52%|█████▎    | 105/200 [00:04<00:04, 22.09it/s]
 54%|█████▍    | 108/200 [00:04<00:04, 21.88it/s]
 56%|█████▌    | 111/200 [00:04<00:03, 22.51it/s]
 57%|█████▋    | 114/200 [00:04<00:04, 19.71it/s]
 58%|█████▊    | 117/200 [00:05<00:04, 18.76it/s]
 60%|██████    | 120/200 [00:05<00:04, 19.15it/s]
 61%|██████    | 122/200 [00:05<00:04, 18.65it/s]
 62%|██████▎   | 125/200 [00:05<00:04, 18.73it/s]
 64%|██████▍   | 128/200 [00:05<00:03, 20.74it/s]
 66%|██████▌   | 131/200 [00:05<00:03, 21.64it/s]
 67%|██████▋   | 134/200 [00:05<00:03, 21.82it/s]
 68%|██████▊   | 137/200 [00:06<00:02, 22.52it/s]
 70%|███████   | 140/200 [00:06<00:02, 22.12it/s]
 72%|███████▏  | 143/200 [00:06<00:02, 23.49it/s]
 73%|███████▎  | 146/200 [00:06<00:02, 24.00it/s]
 74%|███████▍  | 149/200 [00:06<00:02, 24.19it/s]
 76%|███████▌  | 152/200 [00:06<00:01, 24.68it/s]
 78%|███████▊  | 155/200 [00:06<00:02, 21.86it/s]
 79%|███████▉  | 158/200 [00:06<00:01, 22.01it/s]
 80%|████████  | 161/200 [00:07<00:01, 22.42it/s]
 82%|████████▏ | 164/200 [00:07<00:01, 22.61it/s]
 84%|████████▎ | 167/200 [00:07<00:01, 21.46it/s]
 85%|████████▌ | 170/200 [00:07<00:01, 22.77it/s]
 86%|████████▋ | 173/200 [00:07<00:01, 22.46it/s]
 88%|████████▊ | 176/200 [00:07<00:01, 22.34it/s]
 90%|████████▉ | 179/200 [00:07<00:00, 23.74it/s]
 91%|█████████ | 182/200 [00:08<00:00, 23.04it/s]
 92%|█████████▎| 185/200 [00:08<00:00, 22.13it/s]
 94%|█████████▍| 188/200 [00:08<00:00, 23.58it/s]
 96%|█████████▌| 191/200 [00:08<00:00, 20.22it/s]
 97%|█████████▋| 194/200 [00:08<00:00, 21.45it/s]
 98%|█████████▊| 197/200 [00:08<00:00, 21.12it/s]
100%|██████████| 200/200 [00:08<00:00, 21.43it/s]
100%|██████████| 200/200 [00:08<00:00, 22.52it/s]
 Median Scale of 200 frame found to be: 0.8941782642027358
 Fit to reference shape: 

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17it [00:00, 74.37it/s]
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43it [00:00, 81.28it/s]
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219it [00:02, 90.40it/s]
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517it [00:05, 91.30it/s]
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540it [00:06, 96.83it/s]
552it [00:06, 101.27it/s]
563it [00:06, 98.75it/s] 
573it [00:06, 99.09it/s]
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594it [00:06, 100.17it/s]
606it [00:06, 104.55it/s]
618it [00:06, 107.07it/s]
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651it [00:07, 103.88it/s]
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684it [00:07, 94.32it/s]
696it [00:07, 99.16it/s]
707it [00:07, 97.34it/s]
718it [00:07, 98.09it/s]
728it [00:07, 95.70it/s]
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748it [00:08, 89.42it/s]
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779it [00:08, 93.34it/s]
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873it [00:09, 92.69it/s]
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1194it [00:12, 85.68it/s]
1205it [00:12, 91.08it/s]
1215it [00:13, 89.27it/s]
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1245it [00:13, 91.71it/s]
1257it [00:13, 97.99it/s]
1267it [00:13, 93.20it/s]
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1594it [00:16, 97.77it/s]
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1640it [00:17, 86.81it/s]
1650it [00:17, 89.12it/s]
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1674it [00:17, 101.09it/s]
1685it [00:17, 100.04it/s]
1696it [00:17, 92.22it/s] 
1708it [00:17, 97.53it/s]
1718it [00:18, 93.76it/s]
1728it [00:18, 83.74it/s]
1741it [00:18, 93.78it/s]
1751it [00:18, 94.03it/s]
1763it [00:18, 98.98it/s]
1774it [00:18, 90.39it/s]
1784it [00:18, 87.29it/s]
1794it [00:18, 89.64it/s]
1804it [00:19, 88.67it/s]
1814it [00:19, 91.45it/s]
1824it [00:19, 90.66it/s]
1836it [00:19, 95.44it/s]
1847it [00:19, 99.10it/s]
1858it [00:19, 100.29it/s]
1869it [00:19, 100.68it/s]
1881it [00:19, 104.38it/s]
1892it [00:19, 95.36it/s] 
1902it [00:20, 96.38it/s]
1914it [00:20, 101.82it/s]
1926it [00:20, 105.46it/s]
1937it [00:20, 106.23it/s]
1949it [00:20, 110.01it/s]
1961it [00:20, 104.60it/s]
1973it [00:20, 103.63it/s]
1984it [00:20, 99.49it/s] 
1995it [00:20, 99.48it/s]
2006it [00:21, 98.17it/s]
2016it [00:21, 98.27it/s]
2027it [00:21, 100.14it/s]
2038it [00:21, 88.38it/s] 
2048it [00:21, 90.59it/s]
2059it [00:21, 93.78it/s]
2070it [00:21, 97.41it/s]
2080it [00:21, 97.67it/s]
2090it [00:21, 91.01it/s]
2101it [00:22, 93.98it/s]
2112it [00:22, 96.38it/s]
2122it [00:22, 92.79it/s]
2133it [00:22, 96.62it/s]
2146it [00:22, 101.46it/s]
2157it [00:22, 98.44it/s] 
2168it [00:22, 101.44it/s]
2180it [00:22, 104.40it/s]
2191it [00:22, 97.91it/s] 
2203it [00:23, 102.24it/s]
2214it [00:23, 100.36it/s]
2226it [00:23, 105.55it/s]
2237it [00:23, 101.85it/s]
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2259it [00:23, 102.04it/s]
2270it [00:23, 101.74it/s]
2281it [00:23, 99.57it/s] 
2291it [00:23, 92.27it/s]
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2312it [00:24, 94.66it/s]
2324it [00:24, 99.50it/s]
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2355it [00:24, 93.39it/s]
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2376it [00:24, 95.01it/s]
2386it [00:24, 94.12it/s]
2396it [00:25, 93.81it/s]
2407it [00:25, 97.73it/s]
2418it [00:25, 100.35it/s]
2429it [00:25, 99.45it/s] 
2439it [00:25, 96.22it/s]
2449it [00:25, 81.51it/s]
2461it [00:25, 85.95it/s]
2471it [00:25, 87.72it/s]
2482it [00:26, 91.25it/s]
2492it [00:26, 93.15it/s]
2504it [00:26, 100.12it/s]
2516it [00:26, 104.97it/s]
2528it [00:26, 107.47it/s]
2539it [00:26, 106.59it/s]
2550it [00:26, 101.81it/s]
2562it [00:26, 106.39it/s]
2574it [00:26, 109.42it/s]
2586it [00:26, 110.61it/s]
2598it [00:27, 103.59it/s]
2609it [00:27, 100.86it/s]
2620it [00:27, 102.02it/s]
2632it [00:27, 105.92it/s]
2645it [00:27, 106.84it/s]
2657it [00:27, 108.25it/s]
2668it [00:27, 103.70it/s]
2679it [00:27, 93.69it/s] 
2689it [00:28, 92.25it/s]
2700it [00:28, 95.37it/s]
2712it [00:28, 100.39it/s]
2724it [00:28, 104.94it/s]
2735it [00:28, 100.27it/s]
2747it [00:28, 105.61it/s]
2758it [00:28, 104.17it/s]
2769it [00:28, 99.88it/s] 
2780it [00:28, 95.28it/s]
2791it [00:29, 96.70it/s]
2801it [00:29, 95.38it/s]
2811it [00:29, 93.55it/s]
2821it [00:29, 84.44it/s]
2831it [00:29, 88.18it/s]
2841it [00:29, 90.80it/s]
2851it [00:29, 90.95it/s]
2863it [00:29, 97.71it/s]
2873it [00:29, 90.72it/s]
2883it [00:30, 90.79it/s]
2894it [00:30, 95.10it/s]
2904it [00:30, 95.63it/s]
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2926it [00:30, 99.46it/s]
2937it [00:30, 99.95it/s]
2948it [00:30, 99.55it/s]
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2990it [00:31, 89.07it/s]
2999it [00:31, 85.81it/s]
3012it [00:31, 95.46it/s]
3024it [00:31, 102.03it/s]
3035it [00:31, 99.47it/s] 
3046it [00:31, 97.17it/s]
3058it [00:31, 101.29it/s]
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3081it [00:32, 98.10it/s]
3093it [00:32, 98.10it/s]
3104it [00:32, 89.49it/s]
3117it [00:32, 98.92it/s]
3129it [00:32, 103.07it/s]
3140it [00:32, 102.54it/s]
3151it [00:32, 103.45it/s]
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3192it [00:33, 84.48it/s]
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3213it [00:33, 90.93it/s]
3223it [00:33, 92.35it/s]
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3257it [00:34, 87.18it/s]
3266it [00:34, 77.47it/s]
3276it [00:34, 80.26it/s]
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3293it [00:34, 66.79it/s]
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3307it [00:34, 59.98it/s]
3316it [00:34, 65.60it/s]
3323it [00:35, 62.32it/s]
3330it [00:35, 61.05it/s]
3338it [00:35, 64.59it/s]
3345it [00:35, 62.15it/s]
3354it [00:35, 67.41it/s]
3361it [00:35, 62.06it/s]
3368it [00:35, 63.43it/s]
3376it [00:35, 64.35it/s]
3383it [00:36, 64.98it/s]
3390it [00:36, 61.95it/s]
3399it [00:36, 67.38it/s]
3406it [00:36, 64.23it/s]
3414it [00:36, 65.74it/s]
3423it [00:36, 71.88it/s]
3431it [00:36, 74.02it/s]
3440it [00:36, 76.89it/s]
3448it [00:36, 75.51it/s]
3457it [00:37, 79.50it/s]
3469it [00:37, 90.59it/s]
3479it [00:37, 87.44it/s]
3488it [00:37, 86.22it/s]
3497it [00:37, 79.94it/s]
3506it [00:37, 81.39it/s]
3515it [00:37, 81.80it/s]
3525it [00:37, 86.84it/s]
3534it [00:37, 80.77it/s]
3543it [00:38, 75.29it/s]
3551it [00:38, 65.70it/s]
3561it [00:38, 71.58it/s]
3569it [00:38, 73.10it/s]
3578it [00:38, 77.40it/s]
3589it [00:38, 83.26it/s]
3601it [00:38, 90.78it/s]
3611it [00:38, 81.95it/s]
3620it [00:39, 82.61it/s]
3629it [00:39, 71.32it/s]
3637it [00:39, 65.66it/s]
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Track data saved to /working/8fddff9a-ed9b-477d-b12a-16e7c5db2d0d/processing/data/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/8fddff9a-ed9b-477d-b12a-16e7c5db2d0d/processing/data/laser_aligned.ptd.cbor