=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.9
Input file:  /working/1cdcb90e-5c75-4e1f-9079-63f451ca781f/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 -=-=-=-=-=-=-
2025-12-22T07:10:32 - INFO:  Reading sonar track took 0.4127044677734375 sec!
2025-12-22T07:10:32 - INFO:  Reading sonar alignment track took {0.004358768463134766} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  0%|          | 1/200 [00:00<00:20,  9.85it/s]
  2%|▏         | 3/200 [00:00<00:12, 15.63it/s]
  2%|▎         | 5/200 [00:00<00:11, 17.20it/s]
  4%|▎         | 7/200 [00:00<00:10, 17.60it/s]
  4%|▍         | 9/200 [00:00<00:11, 16.17it/s]
  6%|▌         | 11/200 [00:00<00:11, 17.18it/s]
  6%|▋         | 13/200 [00:00<00:10, 17.88it/s]
  8%|▊         | 15/200 [00:00<00:10, 18.49it/s]
  8%|▊         | 17/200 [00:00<00:09, 18.35it/s]
 10%|█         | 20/200 [00:01<00:09, 19.21it/s]
 11%|█         | 22/200 [00:01<00:09, 19.12it/s]
 12%|█▏        | 24/200 [00:01<00:09, 18.86it/s]
 14%|█▎        | 27/200 [00:01<00:09, 19.04it/s]
 14%|█▍        | 29/200 [00:01<00:09, 18.62it/s]
 16%|█▌        | 31/200 [00:01<00:09, 18.38it/s]
 16%|█▋        | 33/200 [00:01<00:08, 18.79it/s]
 18%|█▊        | 35/200 [00:01<00:08, 18.99it/s]
 18%|█▊        | 37/200 [00:02<00:08, 19.21it/s]
 20%|██        | 40/200 [00:02<00:07, 20.17it/s]
 22%|██▏       | 43/200 [00:02<00:07, 21.24it/s]
 23%|██▎       | 46/200 [00:02<00:07, 21.49it/s]
 24%|██▍       | 49/200 [00:02<00:07, 19.94it/s]
 26%|██▌       | 52/200 [00:02<00:07, 20.57it/s]
 28%|██▊       | 55/200 [00:02<00:06, 21.33it/s]
 29%|██▉       | 58/200 [00:03<00:06, 20.91it/s]
 30%|███       | 61/200 [00:03<00:07, 19.63it/s]
 32%|███▏      | 63/200 [00:03<00:07, 19.15it/s]
 33%|███▎      | 66/200 [00:03<00:06, 19.93it/s]
 34%|███▍      | 69/200 [00:03<00:06, 20.10it/s]
 36%|███▌      | 72/200 [00:03<00:06, 21.03it/s]
 38%|███▊      | 75/200 [00:03<00:06, 20.36it/s]
 39%|███▉      | 78/200 [00:04<00:06, 20.00it/s]
 40%|████      | 81/200 [00:04<00:05, 20.53it/s]
 42%|████▏     | 84/200 [00:04<00:05, 20.50it/s]
 44%|████▎     | 87/200 [00:04<00:05, 20.38it/s]
 45%|████▌     | 90/200 [00:04<00:05, 20.36it/s]
 46%|████▋     | 93/200 [00:04<00:05, 21.11it/s]
 48%|████▊     | 96/200 [00:04<00:05, 20.01it/s]
 50%|████▉     | 99/200 [00:05<00:04, 20.33it/s]
 51%|█████     | 102/200 [00:05<00:04, 21.32it/s]
 52%|█████▎    | 105/200 [00:05<00:04, 21.22it/s]
 54%|█████▍    | 108/200 [00:05<00:04, 21.31it/s]
 56%|█████▌    | 111/200 [00:05<00:04, 20.06it/s]
 57%|█████▋    | 114/200 [00:05<00:04, 20.85it/s]
 58%|█████▊    | 117/200 [00:05<00:04, 19.85it/s]
 60%|██████    | 120/200 [00:06<00:03, 20.65it/s]
 62%|██████▏   | 123/200 [00:06<00:03, 21.55it/s]
 63%|██████▎   | 126/200 [00:06<00:03, 21.89it/s]
 64%|██████▍   | 129/200 [00:06<00:03, 19.63it/s]
 66%|██████▌   | 132/200 [00:06<00:03, 19.81it/s]
 68%|██████▊   | 135/200 [00:06<00:03, 21.15it/s]
 69%|██████▉   | 138/200 [00:06<00:02, 20.70it/s]
 70%|███████   | 141/200 [00:07<00:02, 21.23it/s]
 72%|███████▏  | 144/200 [00:07<00:02, 21.97it/s]
 74%|███████▎  | 147/200 [00:07<00:02, 21.67it/s]
 75%|███████▌  | 150/200 [00:07<00:02, 20.46it/s]
 76%|███████▋  | 153/200 [00:07<00:02, 20.77it/s]
 78%|███████▊  | 156/200 [00:07<00:02, 21.01it/s]
 80%|███████▉  | 159/200 [00:07<00:01, 21.19it/s]
 81%|████████  | 162/200 [00:08<00:01, 20.86it/s]
 82%|████████▎ | 165/200 [00:08<00:01, 21.33it/s]
 84%|████████▍ | 168/200 [00:08<00:01, 20.18it/s]
 86%|████████▌ | 171/200 [00:08<00:01, 19.48it/s]
 87%|████████▋ | 174/200 [00:08<00:01, 20.80it/s]
 88%|████████▊ | 177/200 [00:08<00:01, 20.00it/s]
 90%|█████████ | 180/200 [00:08<00:00, 20.41it/s]
 92%|█████████▏| 183/200 [00:09<00:00, 20.01it/s]
 93%|█████████▎| 186/200 [00:09<00:00, 20.16it/s]
 94%|█████████▍| 189/200 [00:09<00:00, 21.34it/s]
 96%|█████████▌| 192/200 [00:09<00:00, 20.16it/s]
 98%|█████████▊| 195/200 [00:09<00:00, 20.46it/s]
 99%|█████████▉| 198/200 [00:09<00:00, 20.47it/s]
100%|██████████| 200/200 [00:09<00:00, 20.09it/s]
 Median Scale of 200 frame found to be: 0.8930221661725053
 Fit to reference shape: 

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691it [00:10, 89.27it/s]
700it [00:10, 88.88it/s]
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1038it [00:14, 88.31it/s]
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1306it [00:17, 74.29it/s]
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1371it [00:18, 100.28it/s]
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1427it [00:18, 101.78it/s]
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1526it [00:19, 99.47it/s] 
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1560it [00:20, 106.04it/s]
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1593it [00:20, 105.68it/s]
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1650it [00:21, 109.02it/s]
1661it [00:21, 103.19it/s]
1672it [00:21, 100.86it/s]
1684it [00:21, 105.49it/s]
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1706it [00:21, 101.49it/s]
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1728it [00:21, 92.67it/s]
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1761it [00:22, 101.27it/s]
1772it [00:22, 103.30it/s]
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1830it [00:22, 112.81it/s]
1842it [00:22, 113.32it/s]
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1878it [00:23, 111.68it/s]
1891it [00:23, 110.94it/s]
1903it [00:23, 111.72it/s]
1915it [00:23, 104.95it/s]
1926it [00:23, 102.11it/s]
1939it [00:23, 108.40it/s]
1951it [00:23, 109.74it/s]
1963it [00:24, 109.95it/s]
1975it [00:24, 104.75it/s]
1988it [00:24, 109.12it/s]
2000it [00:24, 109.54it/s]
2012it [00:24, 110.01it/s]
2024it [00:24, 105.10it/s]
2036it [00:24, 108.45it/s]
2047it [00:24, 107.12it/s]
2058it [00:24, 103.69it/s]
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2081it [00:25, 106.87it/s]
2092it [00:25, 107.60it/s]
2103it [00:25, 104.44it/s]
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2136it [00:25, 103.26it/s]
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2169it [00:26, 103.20it/s]
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2192it [00:26, 99.65it/s] 
2203it [00:26, 100.93it/s]
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2247it [00:26, 97.53it/s] 
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2302it [00:27, 104.36it/s]
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2324it [00:27, 102.03it/s]
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2350it [00:27, 113.55it/s]
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2418it [00:28, 122.79it/s]
2431it [00:28, 122.66it/s]
2444it [00:28, 113.86it/s]
2458it [00:28, 118.35it/s]
2471it [00:28, 119.53it/s]
2484it [00:28, 112.30it/s]
2496it [00:29, 111.88it/s]
2508it [00:29, 111.95it/s]
2520it [00:29, 108.98it/s]
2534it [00:29, 115.86it/s]
2546it [00:29, 110.55it/s]
2558it [00:29, 107.05it/s]
2569it [00:29, 107.41it/s]
2580it [00:29, 96.94it/s] 
2590it [00:29, 92.46it/s]
2602it [00:30, 98.67it/s]
2615it [00:30, 106.36it/s]
2626it [00:30, 107.34it/s]
2637it [00:30, 102.29it/s]
2649it [00:30, 105.21it/s]
2661it [00:30, 106.95it/s]
2673it [00:30, 109.69it/s]
2686it [00:30, 113.85it/s]
2698it [00:30, 111.10it/s]
2710it [00:31, 105.84it/s]
2721it [00:31, 105.37it/s]
2732it [00:31, 102.26it/s]
2745it [00:31, 107.58it/s]
2756it [00:31, 107.99it/s]
2771it [00:31, 117.89it/s]
2783it [00:31, 115.97it/s]
2796it [00:31, 118.07it/s]
2808it [00:31, 115.51it/s]
2821it [00:31, 119.47it/s]
2834it [00:32, 122.22it/s]
2847it [00:32, 118.59it/s]
2859it [00:32, 118.26it/s]
2871it [00:32, 118.08it/s]
2884it [00:32, 119.72it/s]
2897it [00:32, 120.92it/s]
2911it [00:32, 126.07it/s]
2925it [00:32, 126.89it/s]
2938it [00:32, 125.51it/s]
2951it [00:33, 118.51it/s]
2964it [00:33, 119.19it/s]
2976it [00:33, 109.61it/s]
2988it [00:33, 112.35it/s]
3002it [00:33, 119.05it/s]
3015it [00:33, 112.96it/s]
3027it [00:33, 114.06it/s]
3039it [00:33, 111.91it/s]
3052it [00:33, 114.71it/s]
3064it [00:34, 114.12it/s]
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3102it [00:34, 117.60it/s]
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3229it [00:35, 92.34it/s]
3239it [00:35, 91.64it/s]
3249it [00:35, 89.93it/s]
3260it [00:35, 94.03it/s]
3270it [00:36, 92.37it/s]
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3302it [00:36, 94.95it/s]
3314it [00:36, 99.87it/s]
3326it [00:36, 104.02it/s]
3338it [00:36, 107.01it/s]
3351it [00:36, 111.91it/s]
3364it [00:36, 114.84it/s]
3376it [00:37, 104.82it/s]
3387it [00:37, 105.86it/s]
3398it [00:37, 106.91it/s]
3410it [00:37, 109.49it/s]
3422it [00:37, 108.67it/s]
3433it [00:37, 107.33it/s]
3445it [00:37, 110.55it/s]
3457it [00:37, 108.22it/s]
3468it [00:37, 103.82it/s]
3480it [00:38, 107.49it/s]
3491it [00:38, 107.18it/s]
3503it [00:38, 109.69it/s]
3515it [00:38, 107.04it/s]
3527it [00:38, 107.28it/s]
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Track data saved to /working/1cdcb90e-5c75-4e1f-9079-63f451ca781f/processing/data/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/1cdcb90e-5c75-4e1f-9079-63f451ca781f/processing/data/laser_aligned.ptd.cbor