=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.9
Input file:  /working/1b91f06e-9a0b-40e2-9603-9d7c0de05e2f/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 -=-=-=-=-=-=-
2025-12-22T07:23:06 - INFO:  Reading sonar track took 0.18091607093811035 sec!
2025-12-22T07:23:06 - INFO:  Reading sonar alignment track took {0.005486726760864258} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  2%|▏         | 3/200 [00:00<00:07, 26.47it/s]
  3%|▎         | 6/200 [00:00<00:07, 24.77it/s]
  4%|▍         | 9/200 [00:00<00:07, 26.32it/s]
  6%|▌         | 12/200 [00:00<00:07, 23.59it/s]
  8%|▊         | 16/200 [00:00<00:07, 25.39it/s]
 10%|▉         | 19/200 [00:00<00:07, 23.15it/s]
 11%|█         | 22/200 [00:00<00:07, 22.93it/s]
 12%|█▎        | 25/200 [00:01<00:08, 21.68it/s]
 14%|█▍        | 28/200 [00:01<00:07, 22.53it/s]
 16%|█▌        | 31/200 [00:01<00:06, 24.19it/s]
 17%|█▋        | 34/200 [00:01<00:06, 24.89it/s]
 18%|█▊        | 37/200 [00:01<00:07, 22.28it/s]
 20%|██        | 40/200 [00:01<00:07, 21.58it/s]
 22%|██▏       | 43/200 [00:01<00:07, 21.92it/s]
 23%|██▎       | 46/200 [00:02<00:07, 21.68it/s]
 24%|██▍       | 49/200 [00:02<00:07, 20.93it/s]
 26%|██▌       | 52/200 [00:02<00:07, 20.75it/s]
 28%|██▊       | 55/200 [00:02<00:06, 22.14it/s]
 29%|██▉       | 58/200 [00:02<00:05, 23.83it/s]
 30%|███       | 61/200 [00:02<00:06, 21.81it/s]
 32%|███▏      | 64/200 [00:02<00:06, 21.17it/s]
 34%|███▎      | 67/200 [00:02<00:06, 21.85it/s]
 35%|███▌      | 70/200 [00:03<00:06, 20.13it/s]
 36%|███▋      | 73/200 [00:03<00:06, 21.04it/s]
 38%|███▊      | 76/200 [00:03<00:05, 21.15it/s]
 40%|███▉      | 79/200 [00:03<00:05, 21.01it/s]
 41%|████      | 82/200 [00:03<00:05, 20.82it/s]
 42%|████▎     | 85/200 [00:03<00:05, 20.83it/s]
 44%|████▍     | 88/200 [00:04<00:05, 20.33it/s]
 46%|████▌     | 91/200 [00:04<00:05, 19.04it/s]
 46%|████▋     | 93/200 [00:04<00:05, 18.29it/s]
 48%|████▊     | 95/200 [00:04<00:05, 18.28it/s]
 49%|████▉     | 98/200 [00:04<00:05, 19.84it/s]
 50%|█████     | 100/200 [00:04<00:05, 19.04it/s]
 52%|█████▏    | 103/200 [00:04<00:04, 21.77it/s]
 53%|█████▎    | 106/200 [00:04<00:04, 19.61it/s]
 55%|█████▍    | 109/200 [00:05<00:04, 21.53it/s]
 56%|█████▌    | 112/200 [00:05<00:04, 21.78it/s]
 57%|█████▊    | 115/200 [00:05<00:03, 22.55it/s]
 59%|█████▉    | 118/200 [00:05<00:03, 22.97it/s]
 60%|██████    | 121/200 [00:05<00:03, 22.42it/s]
 62%|██████▏   | 124/200 [00:05<00:03, 20.47it/s]
 64%|██████▎   | 127/200 [00:05<00:03, 22.20it/s]
 65%|██████▌   | 130/200 [00:05<00:03, 22.52it/s]
 66%|██████▋   | 133/200 [00:06<00:03, 20.54it/s]
 68%|██████▊   | 136/200 [00:06<00:03, 20.83it/s]
 70%|██████▉   | 139/200 [00:06<00:02, 21.22it/s]
 71%|███████   | 142/200 [00:06<00:02, 21.71it/s]
 72%|███████▎  | 145/200 [00:06<00:02, 20.26it/s]
 74%|███████▍  | 148/200 [00:06<00:02, 21.20it/s]
 76%|███████▌  | 151/200 [00:06<00:02, 22.15it/s]
 77%|███████▋  | 154/200 [00:07<00:02, 22.08it/s]
 78%|███████▊  | 157/200 [00:07<00:01, 22.56it/s]
 80%|████████  | 160/200 [00:07<00:01, 21.99it/s]
 82%|████████▏ | 163/200 [00:07<00:01, 20.32it/s]
 83%|████████▎ | 166/200 [00:07<00:01, 19.50it/s]
 84%|████████▍ | 169/200 [00:07<00:01, 20.58it/s]
 86%|████████▌ | 172/200 [00:08<00:01, 21.00it/s]
 88%|████████▊ | 175/200 [00:08<00:01, 20.79it/s]
 89%|████████▉ | 178/200 [00:08<00:01, 21.15it/s]
 90%|█████████ | 181/200 [00:08<00:00, 21.43it/s]
 92%|█████████▏| 184/200 [00:08<00:00, 21.19it/s]
 94%|█████████▎| 187/200 [00:08<00:00, 21.23it/s]
 95%|█████████▌| 190/200 [00:08<00:00, 22.32it/s]
 96%|█████████▋| 193/200 [00:08<00:00, 22.03it/s]
 98%|█████████▊| 196/200 [00:09<00:00, 22.12it/s]
100%|█████████▉| 199/200 [00:09<00:00, 22.05it/s]
100%|██████████| 200/200 [00:09<00:00, 21.39it/s]
 Median Scale of 200 frame found to be: 1.0505538168890518
 Fit to reference shape: 

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11it [00:00, 47.47it/s]
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184it [00:02, 97.23it/s] 
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510it [00:05, 92.18it/s] 
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533it [00:05, 97.09it/s]
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555it [00:06, 96.17it/s]
565it [00:06, 93.12it/s]
576it [00:06, 96.75it/s]
588it [00:06, 101.67it/s]
599it [00:06, 102.32it/s]
611it [00:06, 104.30it/s]
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633it [00:06, 101.51it/s]
644it [00:06, 103.46it/s]
657it [00:07, 109.88it/s]
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692it [00:07, 105.56it/s]
704it [00:07, 108.75it/s]
717it [00:07, 113.13it/s]
729it [00:07, 109.80it/s]
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754it [00:07, 114.54it/s]
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778it [00:08, 110.09it/s]
790it [00:08, 106.75it/s]
802it [00:08, 103.40it/s]
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851it [00:08, 108.74it/s]
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920it [00:09, 107.97it/s]
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957it [00:09, 109.83it/s]
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1002it [00:10, 93.99it/s]
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1293it [00:13, 99.78it/s]
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1373it [00:14, 99.92it/s]
1386it [00:14, 106.74it/s]
1399it [00:14, 107.18it/s]
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1597it [00:16, 103.16it/s]
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1641it [00:16, 103.65it/s]
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1675it [00:17, 98.08it/s]
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1709it [00:17, 96.40it/s]
1723it [00:17, 105.80it/s]
1736it [00:17, 110.85it/s]
1748it [00:17, 107.96it/s]
1759it [00:17, 106.88it/s]
1770it [00:18, 99.06it/s] 
1782it [00:18, 103.16it/s]
1793it [00:18, 97.67it/s] 
1804it [00:18, 99.35it/s]
1815it [00:18, 100.29it/s]
1826it [00:18, 102.94it/s]
1837it [00:18, 102.96it/s]
1850it [00:18, 108.60it/s]
1861it [00:18, 104.59it/s]
1872it [00:19, 100.50it/s]
1883it [00:19, 100.01it/s]
1896it [00:19, 107.78it/s]
1907it [00:19, 104.96it/s]
1918it [00:19, 93.04it/s] 
1929it [00:19, 96.14it/s]
1939it [00:19, 88.74it/s]
1951it [00:19, 96.64it/s]
1961it [00:19, 94.18it/s]
1971it [00:20, 93.79it/s]
1981it [00:20, 94.88it/s]
1994it [00:20, 103.14it/s]
2006it [00:20, 106.94it/s]
2017it [00:20, 100.56it/s]
2029it [00:20, 101.70it/s]
2040it [00:20, 96.54it/s] 
2052it [00:20, 102.51it/s]
2063it [00:20, 100.39it/s]
2074it [00:21, 99.10it/s] 
2086it [00:21, 102.93it/s]
2098it [00:21, 105.47it/s]
2109it [00:21, 100.95it/s]
2120it [00:21, 97.56it/s] 
2130it [00:21, 93.54it/s]
2141it [00:21, 96.74it/s]
2152it [00:21, 99.52it/s]
2163it [00:22, 92.30it/s]
2174it [00:22, 95.56it/s]
2186it [00:22, 100.51it/s]
2198it [00:22, 102.95it/s]
2209it [00:22, 98.89it/s] 
2219it [00:22, 94.99it/s]
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2239it [00:22, 88.84it/s]
2251it [00:22, 96.76it/s]
2261it [00:23, 94.47it/s]
2273it [00:23, 99.66it/s]
2284it [00:23, 95.01it/s]
2294it [00:23, 90.93it/s]
2305it [00:23, 94.36it/s]
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2324it [00:23, 81.31it/s]
2336it [00:23, 90.47it/s]
2348it [00:23, 96.04it/s]
2358it [00:24, 93.82it/s]
2368it [00:24, 88.23it/s]
2379it [00:24, 90.88it/s]
2389it [00:24, 88.35it/s]
2401it [00:24, 96.25it/s]
2412it [00:24, 99.27it/s]
2423it [00:24, 91.35it/s]
2434it [00:24, 93.46it/s]
2445it [00:25, 97.43it/s]
2457it [00:25, 102.44it/s]
2468it [00:25, 97.88it/s] 
2478it [00:25, 89.52it/s]
2490it [00:25, 97.22it/s]
2500it [00:25, 95.73it/s]
2510it [00:25, 96.08it/s]
2521it [00:25, 99.53it/s]
2532it [00:25, 98.04it/s]
2542it [00:26, 97.39it/s]
2552it [00:26, 97.03it/s]
2562it [00:26, 93.12it/s]
2574it [00:26, 98.54it/s]
2584it [00:26, 98.73it/s]
2594it [00:26, 92.38it/s]
2606it [00:26, 97.41it/s]
2616it [00:26, 92.02it/s]
2626it [00:26, 91.20it/s]
2636it [00:27, 86.59it/s]
2647it [00:27, 90.36it/s]
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2701it [00:27, 98.40it/s]
2713it [00:27, 104.15it/s]
2725it [00:27, 106.64it/s]
2736it [00:28, 103.38it/s]
2747it [00:28, 104.34it/s]
2759it [00:28, 107.87it/s]
2770it [00:28, 100.80it/s]
2781it [00:28, 101.24it/s]
2792it [00:28, 98.11it/s] 
2802it [00:28, 92.94it/s]
2814it [00:28, 98.97it/s]
2824it [00:28, 92.57it/s]
2836it [00:29, 98.28it/s]
2847it [00:29, 99.77it/s]
2858it [00:29, 95.22it/s]
2868it [00:29, 88.76it/s]
2878it [00:29, 90.84it/s]
2890it [00:29, 96.31it/s]
2901it [00:29, 99.31it/s]
2912it [00:29, 91.65it/s]
2924it [00:29, 97.84it/s]
2934it [00:30, 94.49it/s]
2944it [00:30, 90.56it/s]
2957it [00:30, 97.15it/s]
2967it [00:30, 97.51it/s]
2977it [00:30, 97.01it/s]
2987it [00:30, 88.59it/s]
2998it [00:30, 93.76it/s]
3010it [00:30, 97.75it/s]
3020it [00:31, 92.32it/s]
3030it [00:31, 91.87it/s]
3040it [00:31, 80.88it/s]
3052it [00:31, 89.19it/s]
3062it [00:31, 90.52it/s]
3072it [00:31, 90.98it/s]
3082it [00:31, 86.80it/s]
3091it [00:31, 81.98it/s]
3103it [00:31, 90.80it/s]
3114it [00:32, 94.87it/s]
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3137it [00:32, 102.96it/s]
3148it [00:32, 98.08it/s] 
3158it [00:32, 93.04it/s]
3170it [00:32, 100.21it/s]
3181it [00:32, 100.15it/s]
3192it [00:32, 91.78it/s] 
3203it [00:32, 95.72it/s]
3213it [00:33, 91.57it/s]
3224it [00:33, 95.79it/s]
3235it [00:33, 97.46it/s]
3245it [00:33, 95.46it/s]
3255it [00:33, 95.37it/s]
3268it [00:33, 103.93it/s]
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3289it [00:33, 90.72it/s]
3299it [00:34, 81.14it/s]
3311it [00:34, 89.65it/s]
3321it [00:34, 85.43it/s]
3330it [00:34, 86.36it/s]
3341it [00:34, 90.64it/s]
3353it [00:34, 96.42it/s]
3363it [00:34, 92.78it/s]
3373it [00:34, 92.95it/s]
3384it [00:34, 96.58it/s]
3395it [00:35, 96.81it/s]
3405it [00:35, 97.07it/s]
3415it [00:35, 95.53it/s]
3426it [00:35, 98.14it/s]
3437it [00:35, 98.99it/s]
3447it [00:35, 98.62it/s]
3457it [00:35, 98.77it/s]
3467it [00:35, 96.13it/s]
3478it [00:35, 98.90it/s]
3490it [00:36, 103.13it/s]
3502it [00:36, 105.45it/s]
3514it [00:36, 107.76it/s]
3525it [00:36, 101.73it/s]
3536it [00:36, 97.59it/s] 
3546it [00:36, 92.59it/s]
3558it [00:36, 99.28it/s]
3569it [00:36, 96.71it/s]
3579it [00:36, 92.18it/s]
3590it [00:37, 95.22it/s]
3600it [00:37, 87.11it/s]
3611it [00:37, 92.65it/s]
3623it [00:37, 97.77it/s]
3635it [00:37, 102.92it/s]
3646it [00:37, 101.80it/s]
3658it [00:37, 104.13it/s]
3669it [00:37, 104.60it/s]
3680it [00:37, 103.47it/s]
3691it [00:38, 99.97it/s] 
3702it [00:38, 95.67it/s]
3715it [00:38, 103.74it/s]
3729it [00:38, 111.13it/s]
3741it [00:38, 99.06it/s] 
3752it [00:38, 97.63it/s]
3763it [00:38, 96.48it/s]
3773it [00:38, 96.88it/s]
3784it [00:39, 94.58it/s]
3794it [00:39, 91.74it/s]
3804it [00:39, 86.00it/s]
3813it [00:39, 86.61it/s]
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Track data saved to /working/1b91f06e-9a0b-40e2-9603-9d7c0de05e2f/processing/data/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/1b91f06e-9a0b-40e2-9603-9d7c0de05e2f/processing/data/laser_aligned.ptd.cbor