=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.9
Input file:  /working/6b61cf33-12b8-4caf-864e-8ab1f6987e25/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 -=-=-=-=-=-=-
2025-12-22T03:49:41 - INFO:  Reading sonar track took 0.1504204273223877 sec!
2025-12-22T03:49:41 - INFO:  Reading sonar alignment track took {0.0005633831024169922} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  2%|▏         | 3/200 [00:00<00:07, 25.95it/s]
  3%|▎         | 6/200 [00:00<00:08, 23.71it/s]
  4%|▍         | 9/200 [00:00<00:08, 23.36it/s]
  6%|▌         | 12/200 [00:00<00:07, 25.46it/s]
  8%|▊         | 15/200 [00:00<00:06, 26.83it/s]
 10%|▉         | 19/200 [00:00<00:06, 27.13it/s]
 11%|█         | 22/200 [00:00<00:07, 23.46it/s]
 12%|█▎        | 25/200 [00:01<00:07, 22.94it/s]
 14%|█▍        | 28/200 [00:01<00:07, 23.98it/s]
 16%|█▌        | 31/200 [00:01<00:07, 23.13it/s]
 17%|█▋        | 34/200 [00:01<00:07, 22.96it/s]
 18%|█▊        | 37/200 [00:01<00:07, 22.64it/s]
 20%|██        | 40/200 [00:01<00:06, 23.03it/s]
 22%|██▏       | 43/200 [00:01<00:06, 22.49it/s]
 23%|██▎       | 46/200 [00:01<00:06, 22.12it/s]
 24%|██▍       | 49/200 [00:02<00:06, 22.97it/s]
 26%|██▌       | 52/200 [00:02<00:06, 22.05it/s]
 28%|██▊       | 55/200 [00:02<00:06, 21.90it/s]
 29%|██▉       | 58/200 [00:02<00:06, 21.60it/s]
 30%|███       | 61/200 [00:02<00:06, 22.20it/s]
 32%|███▏      | 64/200 [00:02<00:05, 23.96it/s]
 34%|███▎      | 67/200 [00:02<00:05, 24.24it/s]
 35%|███▌      | 70/200 [00:02<00:05, 24.82it/s]
 36%|███▋      | 73/200 [00:03<00:05, 25.30it/s]
 38%|███▊      | 76/200 [00:03<00:04, 24.96it/s]
 40%|███▉      | 79/200 [00:03<00:04, 24.86it/s]
 41%|████      | 82/200 [00:03<00:04, 25.22it/s]
 42%|████▎     | 85/200 [00:03<00:04, 24.12it/s]
 44%|████▍     | 88/200 [00:03<00:04, 23.01it/s]
 46%|████▌     | 91/200 [00:03<00:04, 22.34it/s]
 47%|████▋     | 94/200 [00:03<00:04, 23.02it/s]
 48%|████▊     | 97/200 [00:04<00:04, 23.81it/s]
 50%|█████     | 100/200 [00:04<00:04, 23.61it/s]
 52%|█████▏    | 103/200 [00:04<00:04, 22.20it/s]
 53%|█████▎    | 106/200 [00:04<00:03, 23.83it/s]
 55%|█████▍    | 109/200 [00:04<00:03, 22.96it/s]
 56%|█████▌    | 112/200 [00:04<00:03, 22.88it/s]
 57%|█████▊    | 115/200 [00:04<00:03, 21.50it/s]
 59%|█████▉    | 118/200 [00:05<00:03, 20.62it/s]
 60%|██████    | 121/200 [00:05<00:03, 22.10it/s]
 62%|██████▏   | 124/200 [00:05<00:03, 23.35it/s]
 64%|██████▎   | 127/200 [00:05<00:03, 22.72it/s]
 65%|██████▌   | 130/200 [00:05<00:02, 23.53it/s]
 66%|██████▋   | 133/200 [00:05<00:02, 24.60it/s]
 68%|██████▊   | 136/200 [00:05<00:02, 23.93it/s]
 70%|██████▉   | 139/200 [00:05<00:02, 23.43it/s]
 71%|███████   | 142/200 [00:06<00:02, 22.78it/s]
 72%|███████▎  | 145/200 [00:06<00:02, 23.03it/s]
 74%|███████▍  | 148/200 [00:06<00:02, 24.39it/s]
 76%|███████▌  | 151/200 [00:06<00:01, 25.00it/s]
 77%|███████▋  | 154/200 [00:06<00:01, 24.10it/s]
 78%|███████▊  | 157/200 [00:06<00:01, 23.47it/s]
 80%|████████  | 160/200 [00:06<00:01, 21.94it/s]
 82%|████████▏ | 163/200 [00:07<00:01, 19.49it/s]
 83%|████████▎ | 166/200 [00:07<00:01, 21.58it/s]
 84%|████████▍ | 169/200 [00:07<00:01, 22.68it/s]
 86%|████████▌ | 172/200 [00:07<00:01, 22.93it/s]
 88%|████████▊ | 175/200 [00:07<00:01, 23.53it/s]
 89%|████████▉ | 178/200 [00:07<00:00, 23.82it/s]
 90%|█████████ | 181/200 [00:07<00:00, 25.15it/s]
 92%|█████████▏| 184/200 [00:07<00:00, 25.54it/s]
 94%|█████████▎| 187/200 [00:08<00:00, 23.96it/s]
 95%|█████████▌| 190/200 [00:08<00:00, 22.02it/s]
 96%|█████████▋| 193/200 [00:08<00:00, 21.61it/s]
 98%|█████████▊| 196/200 [00:08<00:00, 20.18it/s]
100%|█████████▉| 199/200 [00:08<00:00, 18.56it/s]
100%|██████████| 200/200 [00:08<00:00, 22.78it/s]
 Median Scale of 200 frame found to be: 0.7351679362902612
 Fit to reference shape: 

0it [00:00, ?it/s]
7it [00:00, 64.28it/s]
18it [00:00, 88.45it/s]
28it [00:00, 93.07it/s]
40it [00:00, 102.50it/s]
51it [00:00, 97.23it/s] 
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270it [00:02, 112.13it/s]
283it [00:02, 114.58it/s]
295it [00:02, 115.92it/s]
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533it [00:04, 111.18it/s]
545it [00:05, 113.16it/s]
557it [00:05, 108.02it/s]
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594it [00:05, 115.07it/s]
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618it [00:05, 115.32it/s]
630it [00:05, 115.49it/s]
642it [00:05, 114.55it/s]
654it [00:05, 114.70it/s]
666it [00:06, 113.16it/s]
679it [00:06, 116.56it/s]
691it [00:06, 114.23it/s]
703it [00:06, 115.28it/s]
715it [00:06, 111.96it/s]
727it [00:06, 109.66it/s]
739it [00:06, 110.74it/s]
751it [00:06, 111.37it/s]
763it [00:06, 111.44it/s]
776it [00:07, 114.34it/s]
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800it [00:07, 110.78it/s]
812it [00:07, 110.19it/s]
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836it [00:07, 108.68it/s]
847it [00:07, 107.97it/s]
858it [00:07, 107.32it/s]
870it [00:07, 108.29it/s]
882it [00:08, 108.85it/s]
893it [00:08, 107.35it/s]
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915it [00:08, 107.57it/s]
926it [00:08, 100.81it/s]
937it [00:08, 103.18it/s]
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960it [00:08, 107.01it/s]
972it [00:08, 108.12it/s]
983it [00:09, 108.65it/s]
994it [00:09, 106.10it/s]
1006it [00:09, 107.28it/s]
1017it [00:09, 106.69it/s]
1029it [00:09, 108.94it/s]
1041it [00:09, 110.72it/s]
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1076it [00:09, 109.40it/s]
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1102it [00:10, 116.65it/s]
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1200it [00:10, 108.58it/s]
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1235it [00:11, 105.42it/s]
1246it [00:11, 104.88it/s]
1258it [00:11, 106.41it/s]
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1294it [00:11, 110.04it/s]
1306it [00:11, 108.84it/s]
1317it [00:12, 106.35it/s]
1328it [00:12, 107.16it/s]
1339it [00:12, 106.59it/s]
1351it [00:12, 110.25it/s]
1363it [00:12, 103.17it/s]
1375it [00:12, 106.62it/s]
1386it [00:12, 105.38it/s]
1397it [00:12, 105.12it/s]
1409it [00:12, 106.72it/s]
1420it [00:13, 102.14it/s]
1431it [00:13, 100.47it/s]
1442it [00:13, 100.79it/s]
1453it [00:13, 97.55it/s] 
1465it [00:13, 103.66it/s]
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1487it [00:13, 106.03it/s]
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1520it [00:13, 103.32it/s]
1531it [00:14, 103.48it/s]
1543it [00:14, 106.35it/s]
1554it [00:14, 106.99it/s]
1565it [00:14, 107.47it/s]
1577it [00:14, 110.28it/s]
1589it [00:14, 111.92it/s]
1602it [00:14, 115.29it/s]
1614it [00:14, 114.02it/s]
1626it [00:14, 113.86it/s]
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1650it [00:15, 112.56it/s]
1662it [00:15, 109.21it/s]
1673it [00:15, 106.85it/s]
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1707it [00:15, 105.80it/s]
1719it [00:15, 108.59it/s]
1730it [00:15, 107.71it/s]
1741it [00:16, 108.09it/s]
1752it [00:16, 104.13it/s]
1764it [00:16, 106.70it/s]
1777it [00:16, 112.28it/s]
1789it [00:16, 110.61it/s]
1802it [00:16, 113.53it/s]
1814it [00:16, 112.53it/s]
1826it [00:16, 111.65it/s]
1839it [00:16, 114.17it/s]
1851it [00:16, 112.70it/s]
1863it [00:17, 109.28it/s]
1875it [00:17, 111.14it/s]
1887it [00:17, 108.23it/s]
1898it [00:17, 104.20it/s]
1909it [00:17, 102.74it/s]
1920it [00:17, 100.98it/s]
1931it [00:17, 100.81it/s]
1942it [00:17, 98.37it/s] 
1952it [00:18, 88.49it/s]
1962it [00:18, 85.84it/s]
1974it [00:18, 91.53it/s]
1985it [00:18, 96.09it/s]
1997it [00:18, 100.54it/s]
2008it [00:18, 100.88it/s]
2019it [00:18, 100.44it/s]
2030it [00:18, 99.11it/s] 
2040it [00:18, 98.18it/s]
2050it [00:19, 98.00it/s]
2061it [00:19, 99.15it/s]
2072it [00:19, 101.98it/s]
2083it [00:19, 103.40it/s]
2094it [00:19, 102.82it/s]
2105it [00:19, 103.61it/s]
2116it [00:19, 103.18it/s]
2127it [00:19, 102.22it/s]
2138it [00:19, 104.10it/s]
2149it [00:19, 103.73it/s]
2160it [00:20, 103.78it/s]
2173it [00:20, 109.18it/s]
2184it [00:20, 107.25it/s]
2195it [00:20, 105.92it/s]
2207it [00:20, 108.19it/s]
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2231it [00:20, 110.77it/s]
2243it [00:20, 111.47it/s]
2255it [00:20, 110.85it/s]
2267it [00:21, 111.50it/s]
2279it [00:21, 106.78it/s]
2291it [00:21, 109.36it/s]
2303it [00:21, 111.05it/s]
2315it [00:21, 109.58it/s]
2326it [00:21, 109.54it/s]
2338it [00:21, 109.31it/s]
2349it [00:21, 108.02it/s]
2360it [00:21, 107.54it/s]
2372it [00:22, 110.96it/s]
2384it [00:22, 108.08it/s]
2395it [00:22, 108.36it/s]
2406it [00:22, 108.58it/s]
2418it [00:22, 108.61it/s]
2429it [00:22, 106.83it/s]
2440it [00:22, 107.57it/s]
2451it [00:22, 106.10it/s]
2462it [00:22, 107.16it/s]
2473it [00:22, 107.24it/s]
2484it [00:23, 106.31it/s]
2495it [00:23, 103.81it/s]
2506it [00:23, 104.92it/s]
2517it [00:23, 100.29it/s]
2528it [00:23, 101.13it/s]
2541it [00:23, 106.57it/s]
2552it [00:23, 104.44it/s]
2563it [00:23, 103.15it/s]
2575it [00:23, 105.04it/s]
2586it [00:24, 106.27it/s]
2598it [00:24, 106.34it/s]
2610it [00:24, 108.68it/s]
2621it [00:24, 108.14it/s]
2632it [00:24, 106.81it/s]
2643it [00:24, 105.36it/s]
2654it [00:24, 105.17it/s]
2665it [00:24, 100.09it/s]
2677it [00:24, 105.21it/s]
2688it [00:25, 104.61it/s]
2699it [00:25, 102.31it/s]
2710it [00:25, 101.30it/s]
2722it [00:25, 105.88it/s]
2733it [00:25, 104.91it/s]
2744it [00:25, 102.54it/s]
2755it [00:25, 101.56it/s]
2766it [00:25, 100.10it/s]
2779it [00:25, 104.32it/s]
2790it [00:26, 103.60it/s]
2801it [00:26, 99.55it/s] 
2811it [00:26, 99.20it/s]
2821it [00:26, 96.45it/s]
2831it [00:26, 94.92it/s]
2842it [00:26, 98.67it/s]
2853it [00:26, 100.30it/s]
2864it [00:26, 98.81it/s] 
2876it [00:26, 102.88it/s]
2887it [00:27, 97.75it/s] 
2897it [00:27, 97.15it/s]
2909it [00:27, 102.40it/s]
2920it [00:27, 102.97it/s]
2931it [00:27, 101.74it/s]
2942it [00:27, 98.98it/s] 
2952it [00:27, 92.60it/s]
2962it [00:27, 90.15it/s]
2973it [00:27, 93.55it/s]
2984it [00:27, 97.70it/s]
2995it [00:28, 99.22it/s]
3007it [00:28, 102.59it/s]
3018it [00:28, 101.55it/s]
3029it [00:28, 100.65it/s]
3042it [00:28, 107.86it/s]
3053it [00:28, 107.62it/s]
3064it [00:28, 104.84it/s]
3076it [00:28, 107.30it/s]
3088it [00:28, 108.20it/s]
3100it [00:29, 110.86it/s]
3112it [00:29, 105.81it/s]
3123it [00:29, 103.63it/s]
3134it [00:29, 102.07it/s]
3145it [00:29, 101.94it/s]
3157it [00:29, 104.47it/s]
3168it [00:29, 104.69it/s]
3180it [00:29, 106.26it/s]
3191it [00:29, 104.01it/s]
3203it [00:30, 106.40it/s]
3214it [00:30, 105.98it/s]
3225it [00:30, 105.45it/s]
3236it [00:30, 106.39it/s]
3247it [00:30, 102.75it/s]
3258it [00:30, 103.54it/s]
3270it [00:30, 106.00it/s]
3281it [00:30, 106.12it/s]
3292it [00:30, 106.06it/s]
3304it [00:31, 109.35it/s]
3315it [00:31, 107.43it/s]
3326it [00:31, 106.42it/s]
3338it [00:31, 107.22it/s]
3349it [00:31, 106.58it/s]
3361it [00:31, 107.69it/s]
3372it [00:31, 105.19it/s]
3383it [00:31, 102.09it/s]
3394it [00:31, 98.28it/s] 
3406it [00:32, 103.19it/s]
3417it [00:32, 102.99it/s]
3428it [00:32, 100.82it/s]
3439it [00:32, 98.69it/s] 
3450it [00:32, 100.03it/s]
3462it [00:32, 103.92it/s]
3473it [00:32, 105.37it/s]
3484it [00:32, 104.96it/s]
3495it [00:32, 103.86it/s]
3506it [00:32, 104.09it/s]
3517it [00:33, 102.06it/s]
3528it [00:33, 103.12it/s]
3539it [00:33, 103.43it/s]
3550it [00:33, 104.16it/s]
3561it [00:33, 104.30it/s]
3573it [00:33, 107.06it/s]
3584it [00:33, 106.21it/s]
3595it [00:33, 105.29it/s]
3606it [00:33, 106.25it/s]
3617it [00:34, 106.64it/s]
3628it [00:34, 105.28it/s]
3640it [00:34, 108.21it/s]
3651it [00:34, 104.29it/s]
3663it [00:34, 106.42it/s]
3675it [00:34, 109.74it/s]
3687it [00:34, 108.06it/s]
3698it [00:34, 105.71it/s]
3710it [00:34, 108.95it/s]
3721it [00:35, 99.70it/s] 
3732it [00:35, 98.36it/s]
3744it [00:35, 103.80it/s]
3755it [00:35, 102.83it/s]
3766it [00:35, 95.64it/s] 
3776it [00:35, 91.05it/s]
3786it [00:35, 89.06it/s]
3797it [00:35, 93.84it/s]
3808it [00:35, 96.12it/s]
3818it [00:36, 89.69it/s]
3829it [00:36, 93.23it/s]
3839it [00:36, 94.96it/s]
3849it [00:36, 92.16it/s]
3859it [00:36, 92.78it/s]
3869it [00:36, 94.32it/s]
3879it [00:36, 94.37it/s]
3889it [00:36, 93.33it/s]
3899it [00:36, 93.83it/s]
3910it [00:37, 97.50it/s]
3920it [00:37, 89.64it/s]
3930it [00:37, 89.04it/s]
3939it [00:37, 87.48it/s]
3948it [00:37, 83.16it/s]
3957it [00:37, 84.91it/s]
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Track data saved to /working/6b61cf33-12b8-4caf-864e-8ab1f6987e25/processing/data/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/6b61cf33-12b8-4caf-864e-8ab1f6987e25/processing/data/laser_aligned.ptd.cbor