=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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 -=-=-=-=-=-=-
2025-12-22T01:06:58 - INFO:  Reading sonar track took 0.1379990577697754 sec!
2025-12-22T01:06:58 - INFO:  Reading sonar alignment track took {0.0004222393035888672} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  1%|          | 2/200 [00:00<00:11, 16.91it/s]
  2%|▎         | 5/200 [00:00<00:08, 22.04it/s]
  4%|▍         | 8/200 [00:00<00:08, 23.78it/s]
  6%|▌         | 11/200 [00:00<00:08, 23.14it/s]
  7%|▋         | 14/200 [00:00<00:07, 24.13it/s]
  8%|▊         | 17/200 [00:00<00:07, 24.12it/s]
 10%|█         | 20/200 [00:00<00:07, 25.16it/s]
 12%|█▏        | 23/200 [00:00<00:07, 24.59it/s]
 13%|█▎        | 26/200 [00:01<00:07, 24.22it/s]
 14%|█▍        | 29/200 [00:01<00:07, 22.85it/s]
 16%|█▌        | 32/200 [00:01<00:07, 23.69it/s]
 18%|█▊        | 35/200 [00:01<00:06, 24.23it/s]
 19%|█▉        | 38/200 [00:01<00:06, 24.58it/s]
 20%|██        | 41/200 [00:01<00:06, 23.93it/s]
 22%|██▎       | 45/200 [00:01<00:06, 25.56it/s]
 24%|██▍       | 48/200 [00:01<00:05, 26.35it/s]
 26%|██▌       | 52/200 [00:02<00:05, 27.36it/s]
 28%|██▊       | 55/200 [00:02<00:05, 27.22it/s]
 29%|██▉       | 58/200 [00:02<00:05, 25.14it/s]
 31%|███       | 62/200 [00:02<00:05, 26.02it/s]
 32%|███▎      | 65/200 [00:02<00:05, 24.27it/s]
 34%|███▍      | 68/200 [00:02<00:05, 23.65it/s]
 36%|███▌      | 71/200 [00:02<00:05, 24.10it/s]
 37%|███▋      | 74/200 [00:03<00:04, 25.39it/s]
 39%|███▉      | 78/200 [00:03<00:04, 27.67it/s]
 40%|████      | 81/200 [00:03<00:04, 28.13it/s]
 42%|████▏     | 84/200 [00:03<00:04, 28.56it/s]
 44%|████▎     | 87/200 [00:03<00:04, 24.22it/s]
 45%|████▌     | 90/200 [00:03<00:04, 24.48it/s]
 46%|████▋     | 93/200 [00:03<00:04, 24.91it/s]
 48%|████▊     | 97/200 [00:03<00:04, 25.60it/s]
 50%|█████     | 101/200 [00:04<00:03, 26.23it/s]
 52%|█████▎    | 105/200 [00:04<00:03, 27.25it/s]
 54%|█████▍    | 108/200 [00:04<00:03, 26.94it/s]
 56%|█████▌    | 111/200 [00:04<00:03, 26.70it/s]
 57%|█████▋    | 114/200 [00:04<00:03, 26.64it/s]
 58%|█████▊    | 117/200 [00:04<00:03, 25.21it/s]
 60%|██████    | 120/200 [00:04<00:03, 23.98it/s]
 62%|██████▏   | 123/200 [00:04<00:03, 24.96it/s]
 63%|██████▎   | 126/200 [00:04<00:02, 25.44it/s]
 64%|██████▍   | 129/200 [00:05<00:02, 26.45it/s]
 66%|██████▌   | 132/200 [00:05<00:02, 24.51it/s]
 68%|██████▊   | 135/200 [00:05<00:02, 24.97it/s]
 69%|██████▉   | 138/200 [00:05<00:02, 23.20it/s]
 70%|███████   | 141/200 [00:05<00:02, 22.93it/s]
 72%|███████▏  | 144/200 [00:05<00:02, 24.57it/s]
 74%|███████▎  | 147/200 [00:05<00:02, 25.03it/s]
 75%|███████▌  | 150/200 [00:05<00:01, 25.74it/s]
 76%|███████▋  | 153/200 [00:06<00:01, 24.60it/s]
 78%|███████▊  | 156/200 [00:06<00:01, 24.05it/s]
 80%|███████▉  | 159/200 [00:06<00:01, 24.15it/s]
 81%|████████  | 162/200 [00:06<00:01, 23.74it/s]
 82%|████████▎ | 165/200 [00:06<00:01, 24.70it/s]
 84%|████████▍ | 168/200 [00:06<00:01, 25.92it/s]
 86%|████████▌ | 171/200 [00:06<00:01, 26.67it/s]
 87%|████████▋ | 174/200 [00:06<00:00, 26.08it/s]
 88%|████████▊ | 177/200 [00:07<00:00, 23.75it/s]
 90%|█████████ | 180/200 [00:07<00:00, 24.45it/s]
 92%|█████████▏| 184/200 [00:07<00:00, 25.70it/s]
 94%|█████████▍| 188/200 [00:07<00:00, 26.48it/s]
 96%|█████████▌| 191/200 [00:07<00:00, 26.10it/s]
 97%|█████████▋| 194/200 [00:07<00:00, 26.29it/s]
 98%|█████████▊| 197/200 [00:07<00:00, 26.07it/s]
100%|██████████| 200/200 [00:08<00:00, 22.17it/s]
100%|██████████| 200/200 [00:08<00:00, 24.96it/s]
 Median Scale of 200 frame found to be: 0.8972710132011639
 Fit to reference shape: 

0it [00:00, ?it/s]
8it [00:00, 72.30it/s]
17it [00:00, 80.33it/s]
27it [00:00, 84.73it/s]
36it [00:00, 85.59it/s]
45it [00:00, 86.89it/s]
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63it [00:00, 86.30it/s]
72it [00:00, 83.61it/s]
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132it [00:01, 98.42it/s]
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153it [00:01, 98.12it/s]
163it [00:01, 91.97it/s]
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184it [00:02, 94.23it/s]
194it [00:02, 94.79it/s]
205it [00:02, 98.94it/s]
215it [00:02, 92.88it/s]
225it [00:02, 93.38it/s]
235it [00:02, 95.09it/s]
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256it [00:02, 98.35it/s]
268it [00:02, 101.53it/s]
280it [00:03, 104.61it/s]
292it [00:03, 106.57it/s]
303it [00:03, 104.12it/s]
314it [00:03, 102.02it/s]
325it [00:03, 103.94it/s]
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455it [00:04, 98.17it/s]
467it [00:04, 103.57it/s]
478it [00:05, 102.42it/s]
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501it [00:05, 105.83it/s]
512it [00:05, 104.10it/s]
523it [00:05, 98.36it/s] 
534it [00:05, 99.71it/s]
545it [00:05, 97.50it/s]
555it [00:05, 96.13it/s]
566it [00:05, 97.78it/s]
577it [00:06, 99.61it/s]
588it [00:06, 101.43it/s]
601it [00:06, 107.39it/s]
612it [00:06, 100.57it/s]
623it [00:06, 98.66it/s] 
634it [00:06, 99.61it/s]
646it [00:06, 104.59it/s]
657it [00:06, 101.57it/s]
668it [00:06, 96.06it/s] 
678it [00:07, 93.31it/s]
690it [00:07, 100.38it/s]
701it [00:07, 102.09it/s]
712it [00:07, 103.13it/s]
724it [00:07, 105.94it/s]
735it [00:07, 106.04it/s]
746it [00:07, 106.64it/s]
757it [00:07, 107.38it/s]
768it [00:07, 103.85it/s]
779it [00:07, 105.55it/s]
792it [00:08, 109.76it/s]
803it [00:08, 109.49it/s]
814it [00:08, 91.23it/s] 
824it [00:08, 91.38it/s]
836it [00:08, 97.29it/s]
848it [00:08, 102.79it/s]
859it [00:08, 95.81it/s] 
869it [00:08, 90.26it/s]
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892it [00:09, 97.68it/s]
902it [00:09, 95.75it/s]
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925it [00:09, 102.90it/s]
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947it [00:09, 101.54it/s]
959it [00:09, 105.58it/s]
971it [00:09, 106.87it/s]
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1004it [00:10, 104.64it/s]
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1166it [00:11, 101.54it/s]
1177it [00:11, 103.36it/s]
1188it [00:12, 105.11it/s]
1201it [00:12, 110.28it/s]
1213it [00:12, 107.09it/s]
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1245it [00:12, 94.48it/s]
1255it [00:12, 85.52it/s]
1264it [00:12, 85.49it/s]
1274it [00:12, 88.79it/s]
1285it [00:13, 93.95it/s]
1298it [00:13, 103.59it/s]
1309it [00:13, 82.21it/s] 
1319it [00:13, 86.19it/s]
1329it [00:13, 78.65it/s]
1340it [00:13, 84.89it/s]
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1531it [00:15, 97.80it/s]
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1591it [00:16, 99.70it/s] 
1602it [00:16, 81.62it/s]
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1668it [00:17, 87.63it/s]
1679it [00:17, 92.42it/s]
1689it [00:17, 88.20it/s]
1698it [00:17, 84.10it/s]
1709it [00:17, 90.08it/s]
1719it [00:17, 89.58it/s]
1730it [00:17, 94.59it/s]
1741it [00:18, 97.66it/s]
1752it [00:18, 99.32it/s]
1762it [00:18, 87.38it/s]
1775it [00:18, 97.07it/s]
1785it [00:18, 97.78it/s]
1797it [00:18, 102.33it/s]
1809it [00:18, 106.46it/s]
1820it [00:18, 101.77it/s]
1831it [00:18, 100.26it/s]
1843it [00:19, 104.42it/s]
1854it [00:19, 104.22it/s]
1865it [00:19, 99.14it/s] 
1878it [00:19, 106.11it/s]
1889it [00:19, 102.72it/s]
1901it [00:19, 101.56it/s]
1912it [00:19, 97.75it/s] 
1924it [00:19, 100.21it/s]
1935it [00:20, 99.49it/s] 
1946it [00:20, 101.48it/s]
1957it [00:20, 98.65it/s] 
1967it [00:20, 94.99it/s]
1977it [00:20, 94.61it/s]
1987it [00:20, 92.38it/s]
1999it [00:20, 98.50it/s]
2009it [00:20, 93.02it/s]
2019it [00:20, 92.38it/s]
2029it [00:20, 94.34it/s]
2041it [00:21, 100.24it/s]
2052it [00:21, 100.45it/s]
2063it [00:21, 97.07it/s] 
2075it [00:21, 102.65it/s]
2087it [00:21, 103.92it/s]
2099it [00:21, 107.07it/s]
2110it [00:21, 102.53it/s]
2122it [00:21, 106.30it/s]
2133it [00:21, 103.88it/s]
2144it [00:22, 104.12it/s]
2157it [00:22, 108.73it/s]
2168it [00:22, 105.78it/s]
2179it [00:22, 99.91it/s] 
2190it [00:22, 98.12it/s]
2202it [00:22, 99.97it/s]
2213it [00:22, 97.63it/s]
2223it [00:22, 94.14it/s]
2234it [00:23, 98.13it/s]
2244it [00:23, 94.06it/s]
2254it [00:23, 90.96it/s]
2264it [00:23, 85.77it/s]
2275it [00:23, 90.43it/s]
2285it [00:23, 86.90it/s]
2295it [00:23, 89.36it/s]
2307it [00:23, 96.60it/s]
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2327it [00:24, 94.48it/s]
2340it [00:24, 103.73it/s]
2351it [00:24, 92.86it/s] 
2361it [00:24, 94.05it/s]
2371it [00:24, 83.94it/s]
2383it [00:24, 89.44it/s]
2394it [00:24, 92.25it/s]
2404it [00:24, 87.06it/s]
2413it [00:24, 86.68it/s]
2425it [00:25, 93.61it/s]
2435it [00:25, 94.77it/s]
2446it [00:25, 96.96it/s]
2457it [00:25, 99.64it/s]
2470it [00:25, 108.00it/s]
2481it [00:25, 107.39it/s]
2492it [00:25, 106.70it/s]
2503it [00:25, 106.74it/s]
2515it [00:25, 108.33it/s]
2526it [00:26, 104.89it/s]
2537it [00:26, 102.43it/s]
2548it [00:26, 96.52it/s] 
2558it [00:26, 95.20it/s]
2569it [00:26, 96.44it/s]
2580it [00:26, 98.51it/s]
2590it [00:26, 94.92it/s]
2600it [00:26, 93.09it/s]
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2620it [00:27, 92.70it/s]
2630it [00:27, 84.38it/s]
2642it [00:27, 92.07it/s]
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2663it [00:27, 97.73it/s]
2675it [00:27, 100.11it/s]
2686it [00:27, 100.94it/s]
2699it [00:27, 108.25it/s]
2710it [00:27, 103.71it/s]
2721it [00:28, 95.91it/s] 
2732it [00:28, 98.06it/s]
2742it [00:28, 91.66it/s]
2752it [00:28, 86.84it/s]
2764it [00:28, 93.63it/s]
2775it [00:28, 97.34it/s]
2785it [00:28, 88.97it/s]
2797it [00:28, 96.74it/s]
2808it [00:29, 94.51it/s]
2818it [00:29, 92.09it/s]
2828it [00:29, 91.83it/s]
2838it [00:29, 94.03it/s]
2851it [00:29, 102.79it/s]
2862it [00:29, 96.84it/s] 
2873it [00:29, 99.34it/s]
2885it [00:29, 103.47it/s]
2896it [00:29, 98.67it/s] 
2908it [00:30, 102.89it/s]
2920it [00:30, 106.86it/s]
2931it [00:30, 103.84it/s]
2942it [00:30, 97.37it/s] 
2955it [00:30, 105.55it/s]
2966it [00:30, 99.38it/s] 
2977it [00:30, 96.81it/s]
2989it [00:30, 102.43it/s]
3002it [00:30, 106.75it/s]
3014it [00:31, 108.31it/s]
3025it [00:31, 106.47it/s]
3036it [00:31, 104.58it/s]
3047it [00:31, 104.07it/s]
3058it [00:31, 104.83it/s]
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3080it [00:31, 100.50it/s]
3092it [00:31, 104.44it/s]
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3114it [00:32, 100.74it/s]
3125it [00:32, 97.51it/s] 
3136it [00:32, 99.11it/s]
3146it [00:32, 96.35it/s]
3157it [00:32, 99.70it/s]
3168it [00:32, 96.13it/s]
3179it [00:32, 96.02it/s]
3189it [00:32, 96.62it/s]
3201it [00:32, 99.49it/s]
3214it [00:33, 106.67it/s]
3227it [00:33, 110.28it/s]
3239it [00:33, 109.24it/s]
3251it [00:33, 109.93it/s]
3263it [00:33, 103.28it/s]
3274it [00:33, 92.19it/s] 
3285it [00:33, 95.92it/s]
3295it [00:33, 94.50it/s]
3305it [00:33, 92.55it/s]
3315it [00:34, 90.34it/s]
3325it [00:34, 92.23it/s]
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3349it [00:34, 100.68it/s]
3360it [00:34, 101.67it/s]
3371it [00:34, 99.77it/s] 
3382it [00:34, 101.22it/s]
3393it [00:34, 97.99it/s] 
3407it [00:34, 106.99it/s]
3418it [00:35, 106.41it/s]
3429it [00:35, 107.29it/s]
3442it [00:35, 112.60it/s]
3454it [00:35, 108.19it/s]
3465it [00:35, 105.25it/s]
3479it [00:35, 112.66it/s]
3491it [00:35, 114.54it/s]
3504it [00:35, 115.39it/s]
3516it [00:35, 114.72it/s]
3529it [00:36, 118.00it/s]
3541it [00:36, 117.67it/s]
3554it [00:36, 120.40it/s]
3567it [00:36, 115.16it/s]
3579it [00:36, 113.82it/s]
3591it [00:36, 112.39it/s]
3603it [00:36, 113.01it/s]
3615it [00:36, 109.82it/s]
3627it [00:36, 111.44it/s]
3639it [00:37, 107.85it/s]
3651it [00:37, 109.57it/s]
3663it [00:37, 109.83it/s]
3675it [00:37, 107.68it/s]
3686it [00:37, 106.04it/s]
3697it [00:37, 105.55it/s]
3708it [00:37, 105.84it/s]
3720it [00:37, 109.13it/s]
3731it [00:37, 106.31it/s]
3742it [00:38, 95.43it/s] 
3753it [00:38, 98.40it/s]
3764it [00:38, 100.40it/s]
3775it [00:38, 100.41it/s]
3787it [00:38, 101.07it/s]
3799it [00:38, 102.70it/s]
3810it [00:38, 92.65it/s] 
3821it [00:38, 96.92it/s]
3834it [00:38, 103.79it/s]
3845it [00:39, 95.50it/s] 
3855it [00:39, 86.36it/s]
3864it [00:39, 87.08it/s]
3873it [00:39, 86.81it/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