=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.9
Input file:  /working/d9a6a371-7a32-45ff-a037-f8042b39c69e/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 -=-=-=-=-=-=-
2025-12-22T04:02:58 - INFO:  Reading sonar track took 0.5448956489562988 sec!
2025-12-22T04:02:58 - INFO:  Reading sonar alignment track took {0.005436420440673828} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  2%|▏         | 3/200 [00:00<00:10, 18.38it/s]
  3%|▎         | 6/200 [00:00<00:09, 19.94it/s]
  4%|▍         | 9/200 [00:00<00:10, 18.80it/s]
  6%|▌         | 12/200 [00:00<00:08, 21.27it/s]
  8%|▊         | 15/200 [00:00<00:09, 20.47it/s]
  9%|▉         | 18/200 [00:00<00:09, 18.65it/s]
 10%|█         | 21/200 [00:01<00:08, 19.91it/s]
 12%|█▏        | 24/200 [00:01<00:08, 19.62it/s]
 14%|█▎        | 27/200 [00:01<00:08, 19.54it/s]
 14%|█▍        | 29/200 [00:01<00:08, 19.54it/s]
 16%|█▌        | 31/200 [00:01<00:08, 19.46it/s]
 16%|█▋        | 33/200 [00:01<00:09, 17.62it/s]
 18%|█▊        | 36/200 [00:01<00:08, 19.13it/s]
 19%|█▉        | 38/200 [00:01<00:08, 18.92it/s]
 20%|██        | 40/200 [00:02<00:08, 18.66it/s]
 22%|██▏       | 43/200 [00:02<00:08, 19.41it/s]
 23%|██▎       | 46/200 [00:02<00:07, 20.10it/s]
 24%|██▍       | 49/200 [00:02<00:07, 19.20it/s]
 26%|██▌       | 51/200 [00:02<00:08, 18.23it/s]
 26%|██▋       | 53/200 [00:02<00:08, 18.00it/s]
 28%|██▊       | 56/200 [00:02<00:07, 19.74it/s]
 30%|██▉       | 59/200 [00:03<00:06, 21.68it/s]
 31%|███       | 62/200 [00:03<00:06, 21.34it/s]
 32%|███▎      | 65/200 [00:03<00:06, 21.63it/s]
 34%|███▍      | 68/200 [00:03<00:06, 21.24it/s]
 36%|███▌      | 71/200 [00:03<00:05, 21.91it/s]
 37%|███▋      | 74/200 [00:03<00:05, 22.68it/s]
 38%|███▊      | 77/200 [00:03<00:05, 22.26it/s]
 40%|████      | 80/200 [00:03<00:05, 23.55it/s]
 42%|████▏     | 83/200 [00:04<00:05, 22.63it/s]
 43%|████▎     | 86/200 [00:04<00:05, 22.29it/s]
 44%|████▍     | 89/200 [00:04<00:04, 23.38it/s]
 46%|████▌     | 92/200 [00:04<00:04, 22.69it/s]
 48%|████▊     | 95/200 [00:04<00:04, 22.57it/s]
 49%|████▉     | 98/200 [00:04<00:04, 23.02it/s]
 50%|█████     | 101/200 [00:04<00:04, 21.37it/s]
 52%|█████▏    | 104/200 [00:05<00:04, 21.53it/s]
 54%|█████▎    | 107/200 [00:05<00:04, 23.11it/s]
 55%|█████▌    | 110/200 [00:05<00:03, 22.52it/s]
 56%|█████▋    | 113/200 [00:05<00:04, 21.47it/s]
 58%|█████▊    | 116/200 [00:05<00:04, 20.47it/s]
 60%|█████▉    | 119/200 [00:05<00:03, 20.96it/s]
 61%|██████    | 122/200 [00:05<00:03, 21.48it/s]
 62%|██████▎   | 125/200 [00:05<00:03, 22.09it/s]
 64%|██████▍   | 128/200 [00:06<00:03, 22.21it/s]
 66%|██████▌   | 131/200 [00:06<00:03, 21.70it/s]
 67%|██████▋   | 134/200 [00:06<00:03, 21.25it/s]
 68%|██████▊   | 137/200 [00:06<00:02, 21.90it/s]
 70%|███████   | 140/200 [00:06<00:02, 23.52it/s]
 72%|███████▏  | 143/200 [00:06<00:02, 23.60it/s]
 73%|███████▎  | 146/200 [00:06<00:02, 23.92it/s]
 74%|███████▍  | 149/200 [00:07<00:02, 23.61it/s]
 76%|███████▌  | 152/200 [00:07<00:02, 22.46it/s]
 78%|███████▊  | 155/200 [00:07<00:01, 23.62it/s]
 79%|███████▉  | 158/200 [00:07<00:01, 24.67it/s]
 81%|████████  | 162/200 [00:07<00:01, 26.53it/s]
 82%|████████▎ | 165/200 [00:07<00:01, 25.13it/s]
 84%|████████▍ | 168/200 [00:07<00:01, 22.92it/s]
 86%|████████▌ | 171/200 [00:07<00:01, 24.12it/s]
 87%|████████▋ | 174/200 [00:08<00:01, 21.49it/s]
 88%|████████▊ | 177/200 [00:08<00:01, 21.53it/s]
 90%|█████████ | 180/200 [00:08<00:00, 21.09it/s]
 92%|█████████▏| 183/200 [00:08<00:00, 22.57it/s]
 93%|█████████▎| 186/200 [00:08<00:00, 23.29it/s]
 94%|█████████▍| 189/200 [00:08<00:00, 23.39it/s]
 96%|█████████▌| 192/200 [00:08<00:00, 22.88it/s]
 98%|█████████▊| 195/200 [00:09<00:00, 22.61it/s]
 99%|█████████▉| 198/200 [00:09<00:00, 23.18it/s]
100%|██████████| 200/200 [00:09<00:00, 21.56it/s]
 Median Scale of 200 frame found to be: 0.8908633491920603
 Fit to reference shape: 

0it [00:00, ?it/s]
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19it [00:00, 90.35it/s]
30it [00:00, 97.12it/s]
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536it [00:05, 97.65it/s]
547it [00:05, 100.92it/s]
558it [00:05, 100.73it/s]
569it [00:06, 101.15it/s]
580it [00:06, 101.52it/s]
591it [00:06, 99.06it/s] 
601it [00:06, 98.43it/s]
611it [00:06, 97.30it/s]
621it [00:06, 96.54it/s]
631it [00:06, 95.51it/s]
641it [00:06, 95.80it/s]
651it [00:06, 88.34it/s]
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689it [00:07, 90.12it/s]
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717it [00:07, 77.49it/s]
725it [00:07, 72.84it/s]
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807it [00:08, 76.41it/s]
816it [00:09, 79.00it/s]
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833it [00:09, 78.70it/s]
841it [00:09, 73.83it/s]
850it [00:09, 78.22it/s]
858it [00:09, 78.42it/s]
866it [00:09, 70.09it/s]
875it [00:09, 73.51it/s]
885it [00:09, 77.68it/s]
893it [00:10, 74.84it/s]
901it [00:10, 74.66it/s]
910it [00:10, 77.71it/s]
920it [00:10, 81.67it/s]
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1157it [00:13, 72.40it/s]
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1182it [00:13, 72.58it/s]
1190it [00:13, 73.01it/s]
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1301it [00:15, 78.76it/s]
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1463it [00:17, 91.16it/s]
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1493it [00:17, 90.72it/s]
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1512it [00:17, 86.00it/s]
1521it [00:17, 86.34it/s]
1532it [00:17, 92.04it/s]
1542it [00:17, 87.31it/s]
1551it [00:18, 87.21it/s]
1561it [00:18, 88.86it/s]
1571it [00:18, 89.40it/s]
1580it [00:18, 89.28it/s]
1589it [00:18, 85.99it/s]
1598it [00:18, 82.76it/s]
1607it [00:18, 84.65it/s]
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1627it [00:18, 88.29it/s]
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1646it [00:19, 88.70it/s]
1656it [00:19, 91.16it/s]
1667it [00:19, 94.31it/s]
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1688it [00:19, 92.39it/s]
1698it [00:19, 92.66it/s]
1708it [00:19, 90.12it/s]
1719it [00:19, 92.82it/s]
1729it [00:20, 93.90it/s]
1739it [00:20, 93.32it/s]
1749it [00:20, 94.74it/s]
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1769it [00:20, 92.06it/s]
1780it [00:20, 95.33it/s]
1791it [00:20, 96.06it/s]
1801it [00:20, 92.23it/s]
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1821it [00:21, 87.01it/s]
1830it [00:21, 86.73it/s]
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1858it [00:21, 84.32it/s]
1868it [00:21, 86.87it/s]
1878it [00:21, 88.44it/s]
1889it [00:21, 92.33it/s]
1899it [00:21, 89.64it/s]
1908it [00:22, 78.69it/s]
1917it [00:22, 79.37it/s]
1926it [00:22, 80.17it/s]
1936it [00:22, 84.48it/s]
1945it [00:22, 84.91it/s]
1955it [00:22, 86.86it/s]
1966it [00:22, 91.12it/s]
1976it [00:22, 89.81it/s]
1987it [00:22, 91.85it/s]
1997it [00:23, 91.90it/s]
2007it [00:23, 94.13it/s]
2017it [00:23, 91.33it/s]
2027it [00:23, 92.24it/s]
2037it [00:23, 92.90it/s]
2048it [00:23, 94.11it/s]
2058it [00:23, 94.60it/s]
2069it [00:23, 97.83it/s]
2080it [00:23, 100.23it/s]
2091it [00:24, 99.03it/s] 
2101it [00:24, 99.04it/s]
2111it [00:24, 95.59it/s]
2121it [00:24, 94.44it/s]
2131it [00:24, 90.98it/s]
2141it [00:24, 86.58it/s]
2151it [00:24, 89.43it/s]
2161it [00:24, 88.27it/s]
2172it [00:24, 92.17it/s]
2182it [00:25, 88.21it/s]
2192it [00:25, 90.60it/s]
2202it [00:25, 88.19it/s]
2211it [00:25, 82.65it/s]
2222it [00:25, 88.25it/s]
2232it [00:25, 90.05it/s]
2242it [00:25, 91.29it/s]
2253it [00:25, 95.72it/s]
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2303it [00:26, 88.00it/s]
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2402it [00:27, 95.00it/s]
2412it [00:27, 93.59it/s]
2423it [00:27, 95.16it/s]
2433it [00:27, 93.32it/s]
2443it [00:27, 90.77it/s]
2453it [00:28, 89.35it/s]
2462it [00:28, 88.93it/s]
2471it [00:28, 88.66it/s]
2480it [00:28, 87.15it/s]
2489it [00:28, 79.95it/s]
2498it [00:28, 78.13it/s]
2506it [00:28, 76.50it/s]
2514it [00:28, 75.85it/s]
2523it [00:28, 77.79it/s]
2532it [00:29, 80.42it/s]
2542it [00:29, 83.68it/s]
2551it [00:29, 81.74it/s]
2560it [00:29, 80.33it/s]
2571it [00:29, 88.01it/s]
2580it [00:29, 86.60it/s]
2590it [00:29, 87.96it/s]
2599it [00:29, 88.42it/s]
2609it [00:29, 91.44it/s]
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2629it [00:30, 91.49it/s]
2639it [00:30, 89.72it/s]
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2678it [00:30, 86.77it/s]
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2696it [00:30, 84.00it/s]
2705it [00:30, 84.45it/s]
2715it [00:31, 87.32it/s]
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2735it [00:31, 90.52it/s]
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2755it [00:31, 92.29it/s]
2765it [00:31, 91.19it/s]
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2795it [00:31, 89.93it/s]
2805it [00:32, 80.22it/s]
2814it [00:32, 80.03it/s]
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2998it [00:34, 89.60it/s]
3007it [00:34, 87.23it/s]
3016it [00:34, 87.12it/s]
3027it [00:34, 92.82it/s]
3038it [00:34, 97.50it/s]
3048it [00:34, 96.36it/s]
3059it [00:35, 97.83it/s]
3069it [00:35, 98.04it/s]
3080it [00:35, 100.80it/s]
3091it [00:35, 102.54it/s]
3103it [00:35, 106.11it/s]
3114it [00:35, 105.00it/s]
3125it [00:35, 98.63it/s] 
3136it [00:35, 98.82it/s]
3147it [00:35, 100.88it/s]
3158it [00:36, 99.79it/s] 
3169it [00:36, 97.62it/s]
3179it [00:36, 93.01it/s]
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3199it [00:36, 89.10it/s]
3209it [00:36, 88.68it/s]
3218it [00:36, 87.89it/s]
3227it [00:36, 88.11it/s]
3236it [00:36, 87.11it/s]
3245it [00:37, 86.68it/s]
3255it [00:37, 88.47it/s]
3264it [00:37, 87.53it/s]
3273it [00:37, 83.87it/s]
3283it [00:37, 85.91it/s]
3292it [00:37, 84.04it/s]
3301it [00:37, 80.69it/s]
3310it [00:37, 77.41it/s]
3320it [00:37, 82.05it/s]
3329it [00:38, 82.10it/s]
3338it [00:38, 81.13it/s]
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Track data saved to /working/d9a6a371-7a32-45ff-a037-f8042b39c69e/processing/data/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/d9a6a371-7a32-45ff-a037-f8042b39c69e/processing/data/laser_aligned.ptd.cbor