=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.9
Input file:  /working/7cec5059-f423-4a8f-92b3-b8b5c6f72401/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 -=-=-=-=-=-=-
2025-12-22T07:18:16 - INFO:  Reading sonar track took 0.08887958526611328 sec!
2025-12-22T07:18:16 - INFO:  Reading sonar alignment track took {0.0005941390991210938} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  0%|          | 1/200 [00:00<00:23,  8.43it/s]
  2%|▏         | 3/200 [00:00<00:18, 10.82it/s]
  3%|▎         | 6/200 [00:00<00:12, 15.83it/s]
  4%|▍         | 9/200 [00:00<00:10, 18.16it/s]
  6%|▌         | 11/200 [00:00<00:10, 18.47it/s]
  7%|▋         | 14/200 [00:00<00:09, 19.29it/s]
  8%|▊         | 17/200 [00:00<00:09, 19.89it/s]
 10%|█         | 20/200 [00:01<00:08, 20.71it/s]
 12%|█▏        | 23/200 [00:01<00:08, 21.10it/s]
 13%|█▎        | 26/200 [00:01<00:08, 19.71it/s]
 14%|█▍        | 29/200 [00:01<00:08, 19.74it/s]
 16%|█▌        | 32/200 [00:01<00:08, 20.86it/s]
 18%|█▊        | 35/200 [00:01<00:07, 22.04it/s]
 19%|█▉        | 38/200 [00:01<00:07, 21.40it/s]
 20%|██        | 41/200 [00:02<00:07, 20.29it/s]
 22%|██▏       | 44/200 [00:02<00:07, 20.84it/s]
 24%|██▎       | 47/200 [00:02<00:07, 21.63it/s]
 25%|██▌       | 50/200 [00:02<00:07, 20.74it/s]
 26%|██▋       | 53/200 [00:02<00:07, 19.70it/s]
 28%|██▊       | 55/200 [00:02<00:07, 18.51it/s]
 29%|██▉       | 58/200 [00:02<00:07, 19.60it/s]
 30%|███       | 61/200 [00:03<00:06, 20.42it/s]
 32%|███▏      | 64/200 [00:03<00:06, 20.55it/s]
 34%|███▎      | 67/200 [00:03<00:06, 21.01it/s]
 35%|███▌      | 70/200 [00:03<00:05, 21.80it/s]
 36%|███▋      | 73/200 [00:03<00:05, 22.29it/s]
 38%|███▊      | 76/200 [00:03<00:05, 21.61it/s]
 40%|███▉      | 79/200 [00:03<00:05, 22.24it/s]
 41%|████      | 82/200 [00:04<00:05, 20.43it/s]
 42%|████▎     | 85/200 [00:04<00:05, 21.74it/s]
 44%|████▍     | 88/200 [00:04<00:05, 21.87it/s]
 46%|████▌     | 91/200 [00:04<00:04, 22.46it/s]
 47%|████▋     | 94/200 [00:04<00:04, 23.55it/s]
 48%|████▊     | 97/200 [00:04<00:04, 23.00it/s]
 50%|█████     | 100/200 [00:04<00:04, 20.59it/s]
 52%|█████▏    | 103/200 [00:05<00:04, 20.56it/s]
 53%|█████▎    | 106/200 [00:05<00:04, 22.31it/s]
 55%|█████▍    | 109/200 [00:05<00:03, 22.82it/s]
 56%|█████▌    | 112/200 [00:05<00:04, 21.50it/s]
 57%|█████▊    | 115/200 [00:05<00:04, 20.44it/s]
 59%|█████▉    | 118/200 [00:05<00:04, 20.12it/s]
 60%|██████    | 121/200 [00:05<00:03, 21.04it/s]
 62%|██████▏   | 124/200 [00:06<00:03, 20.41it/s]
 64%|██████▎   | 127/200 [00:06<00:03, 21.95it/s]
 65%|██████▌   | 130/200 [00:06<00:03, 22.09it/s]
 66%|██████▋   | 133/200 [00:06<00:02, 22.84it/s]
 68%|██████▊   | 136/200 [00:06<00:02, 21.85it/s]
 70%|██████▉   | 139/200 [00:06<00:02, 22.71it/s]
 71%|███████   | 142/200 [00:06<00:02, 22.23it/s]
 72%|███████▎  | 145/200 [00:06<00:02, 22.76it/s]
 74%|███████▍  | 148/200 [00:07<00:02, 22.02it/s]
 76%|███████▌  | 151/200 [00:07<00:02, 20.82it/s]
 77%|███████▋  | 154/200 [00:07<00:02, 21.28it/s]
 78%|███████▊  | 157/200 [00:07<00:01, 22.11it/s]
 80%|████████  | 160/200 [00:07<00:01, 21.45it/s]
 82%|████████▏ | 163/200 [00:07<00:01, 21.29it/s]
 83%|████████▎ | 166/200 [00:07<00:01, 20.42it/s]
 84%|████████▍ | 169/200 [00:08<00:01, 20.74it/s]
 86%|████████▌ | 172/200 [00:08<00:01, 22.09it/s]
 88%|████████▊ | 175/200 [00:08<00:01, 21.36it/s]
 89%|████████▉ | 178/200 [00:08<00:01, 21.40it/s]
 90%|█████████ | 181/200 [00:08<00:00, 21.59it/s]
 92%|█████████▏| 184/200 [00:08<00:00, 21.32it/s]
 94%|█████████▎| 187/200 [00:08<00:00, 21.93it/s]
 95%|█████████▌| 190/200 [00:09<00:00, 21.60it/s]
 96%|█████████▋| 193/200 [00:09<00:00, 20.02it/s]
 98%|█████████▊| 196/200 [00:09<00:00, 20.56it/s]
100%|█████████▉| 199/200 [00:09<00:00, 20.21it/s]
100%|██████████| 200/200 [00:09<00:00, 20.95it/s]
 Median Scale of 200 frame found to be: 1.0574535268092922
 Fit to reference shape: 

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530it [00:05, 108.17it/s]
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553it [00:06, 111.29it/s]
565it [00:06, 94.63it/s] 
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585it [00:06, 93.64it/s]
598it [00:06, 98.07it/s]
609it [00:06, 99.47it/s]
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632it [00:06, 99.61it/s] 
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762it [00:08, 93.32it/s] 
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833it [00:08, 113.10it/s]
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1191it [00:12, 95.32it/s]
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1234it [00:12, 100.66it/s]
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1652it [00:16, 90.17it/s]
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1707it [00:17, 98.66it/s]
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1728it [00:17, 98.02it/s]
1740it [00:17, 102.98it/s]
1751it [00:17, 101.33it/s]
1763it [00:18, 104.13it/s]
1774it [00:18, 98.01it/s] 
1784it [00:18, 94.67it/s]
1794it [00:18, 95.59it/s]
1806it [00:18, 101.91it/s]
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1829it [00:18, 98.83it/s] 
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1849it [00:18, 95.53it/s]
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1881it [00:19, 98.49it/s]
1894it [00:19, 105.91it/s]
1906it [00:19, 106.31it/s]
1918it [00:19, 107.70it/s]
1930it [00:19, 103.25it/s]
1941it [00:19, 100.31it/s]
1952it [00:19, 96.15it/s] 
1963it [00:20, 98.23it/s]
1975it [00:20, 102.57it/s]
1988it [00:20, 107.73it/s]
1999it [00:20, 97.01it/s] 
2009it [00:20, 87.88it/s]
2019it [00:20, 88.84it/s]
2029it [00:20, 89.73it/s]
2039it [00:20, 87.40it/s]
2050it [00:20, 91.67it/s]
2060it [00:21, 91.06it/s]
2072it [00:21, 96.77it/s]
2082it [00:21, 89.91it/s]
2092it [00:21, 92.57it/s]
2103it [00:21, 95.61it/s]
2114it [00:21, 97.90it/s]
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2134it [00:21, 90.53it/s]
2144it [00:22, 87.92it/s]
2153it [00:22, 87.93it/s]
2162it [00:22, 85.45it/s]
2171it [00:22, 85.68it/s]
2181it [00:22, 88.60it/s]
2191it [00:22, 91.49it/s]
2201it [00:22, 88.02it/s]
2211it [00:22, 89.59it/s]
2222it [00:22, 93.64it/s]
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2246it [00:23, 98.90it/s] 
2256it [00:23, 98.78it/s]
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2278it [00:23, 91.85it/s]
2289it [00:23, 92.07it/s]
2302it [00:23, 100.62it/s]
2313it [00:23, 101.12it/s]
2324it [00:23, 93.21it/s] 
2336it [00:24, 99.77it/s]
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2370it [00:24, 101.14it/s]
2381it [00:24, 97.75it/s] 
2391it [00:24, 97.35it/s]
2401it [00:24, 89.40it/s]
2412it [00:24, 91.08it/s]
2422it [00:24, 91.33it/s]
2432it [00:25, 93.13it/s]
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2486it [00:25, 94.90it/s] 
2497it [00:25, 97.36it/s]
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2529it [00:26, 96.08it/s]
2542it [00:26, 104.11it/s]
2553it [00:26, 97.71it/s] 
2566it [00:26, 104.71it/s]
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2610it [00:26, 100.86it/s]
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2646it [00:27, 102.88it/s]
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2703it [00:27, 102.21it/s]
2714it [00:27, 102.83it/s]
2725it [00:27, 104.75it/s]
2738it [00:28, 110.44it/s]
2750it [00:28, 102.83it/s]
2761it [00:28, 100.94it/s]
2772it [00:28, 100.18it/s]
2783it [00:28, 98.81it/s] 
2793it [00:28, 95.26it/s]
2803it [00:28, 92.21it/s]
2813it [00:28, 89.92it/s]
2825it [00:29, 93.26it/s]
2836it [00:29, 97.74it/s]
2846it [00:29, 97.57it/s]
2856it [00:29, 88.73it/s]
2867it [00:29, 94.29it/s]
2879it [00:29, 97.16it/s]
2890it [00:29, 96.88it/s]
2901it [00:29, 98.42it/s]
2911it [00:29, 95.53it/s]
2921it [00:30, 87.90it/s]
2933it [00:30, 95.30it/s]
2943it [00:30, 94.31it/s]
2955it [00:30, 100.85it/s]
2967it [00:30, 103.96it/s]
2978it [00:30, 104.64it/s]
2989it [00:30, 101.86it/s]
3000it [00:30, 94.74it/s] 
3014it [00:30, 105.31it/s]
3025it [00:31, 100.05it/s]
3036it [00:31, 99.92it/s] 
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3058it [00:31, 100.65it/s]
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3080it [00:31, 91.35it/s] 
3091it [00:31, 95.22it/s]
3101it [00:31, 91.49it/s]
3113it [00:31, 97.65it/s]
3124it [00:32, 100.05it/s]
3135it [00:32, 95.13it/s] 
3145it [00:32, 88.23it/s]
3154it [00:32, 86.15it/s]
3163it [00:32, 86.27it/s]
3175it [00:32, 94.44it/s]
3185it [00:32, 94.30it/s]
3198it [00:32, 104.06it/s]
3209it [00:32, 103.23it/s]
3220it [00:33, 101.36it/s]
3231it [00:33, 103.29it/s]
3243it [00:33, 104.81it/s]
3256it [00:33, 108.52it/s]
3267it [00:33, 102.90it/s]
3278it [00:33, 99.33it/s] 
3288it [00:33, 99.40it/s]
3298it [00:33, 96.75it/s]
3308it [00:33, 95.59it/s]
3318it [00:34, 91.39it/s]
3328it [00:34, 91.02it/s]
3338it [00:34, 93.07it/s]
3348it [00:34, 93.80it/s]
3358it [00:34, 92.04it/s]
3368it [00:34, 92.02it/s]
3379it [00:34, 96.52it/s]
3393it [00:34, 107.62it/s]
3404it [00:34, 103.38it/s]
3415it [00:35, 102.16it/s]
3426it [00:35, 88.85it/s] 
3436it [00:35, 88.31it/s]
3447it [00:35, 92.31it/s]
3458it [00:35, 95.25it/s]
3468it [00:35, 91.16it/s]
3478it [00:35, 90.91it/s]
3488it [00:35, 88.89it/s]
3498it [00:35, 90.91it/s]
3510it [00:36, 98.44it/s]
3520it [00:36, 97.19it/s]
3531it [00:36, 99.42it/s]
3542it [00:36, 99.81it/s]
3553it [00:36, 100.06it/s]
3564it [00:36, 101.23it/s]
3575it [00:36, 93.90it/s] 
3586it [00:36, 97.54it/s]
3598it [00:36, 102.21it/s]
3609it [00:37, 102.99it/s]
3620it [00:37, 101.00it/s]
3631it [00:37, 96.62it/s] 
3641it [00:37, 87.48it/s]
3651it [00:37, 90.03it/s]
3661it [00:37, 92.38it/s]
3671it [00:37, 88.37it/s]
3681it [00:37, 90.87it/s]
3693it [00:38, 97.43it/s]
3703it [00:38, 96.17it/s]
3713it [00:38, 92.69it/s]
3723it [00:38, 92.03it/s]
3733it [00:38, 88.93it/s]
3744it [00:38, 92.93it/s]
3755it [00:38, 96.46it/s]
3767it [00:38, 101.50it/s]
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Track data saved to /working/7cec5059-f423-4a8f-92b3-b8b5c6f72401/processing/data/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/7cec5059-f423-4a8f-92b3-b8b5c6f72401/processing/data/laser_aligned.ptd.cbor