=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.9
Input file:  /working/8d75a8ae-47c4-4cf7-883c-751dcc9148f8/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 -=-=-=-=-=-=-
2025-12-22T07:18:21 - INFO:  Reading sonar track took 0.20741033554077148 sec!
2025-12-22T07:18:21 - INFO:  Reading sonar alignment track took {0.003978729248046875} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  2%|▏         | 3/200 [00:00<00:08, 22.01it/s]
  3%|▎         | 6/200 [00:00<00:08, 22.55it/s]
  4%|▍         | 9/200 [00:00<00:08, 22.57it/s]
  6%|▌         | 12/200 [00:00<00:08, 22.73it/s]
  8%|▊         | 15/200 [00:00<00:08, 22.84it/s]
  9%|▉         | 18/200 [00:00<00:08, 21.66it/s]
 10%|█         | 21/200 [00:00<00:07, 22.41it/s]
 12%|█▏        | 24/200 [00:01<00:07, 23.05it/s]
 14%|█▎        | 27/200 [00:01<00:07, 22.84it/s]
 15%|█▌        | 30/200 [00:01<00:08, 21.24it/s]
 16%|█▋        | 33/200 [00:01<00:07, 20.89it/s]
 18%|█▊        | 36/200 [00:01<00:07, 21.64it/s]
 20%|█▉        | 39/200 [00:01<00:07, 20.50it/s]
 21%|██        | 42/200 [00:01<00:07, 20.61it/s]
 22%|██▎       | 45/200 [00:02<00:06, 22.15it/s]
 24%|██▍       | 48/200 [00:02<00:06, 23.18it/s]
 26%|██▌       | 51/200 [00:02<00:06, 21.93it/s]
 27%|██▋       | 54/200 [00:02<00:06, 22.50it/s]
 28%|██▊       | 57/200 [00:02<00:06, 22.57it/s]
 30%|███       | 60/200 [00:02<00:06, 22.82it/s]
 32%|███▏      | 63/200 [00:02<00:05, 23.24it/s]
 33%|███▎      | 66/200 [00:02<00:05, 22.92it/s]
 34%|███▍      | 69/200 [00:03<00:05, 22.46it/s]
 36%|███▌      | 72/200 [00:03<00:05, 22.71it/s]
 38%|███▊      | 75/200 [00:03<00:05, 22.04it/s]
 39%|███▉      | 78/200 [00:03<00:05, 20.59it/s]
 40%|████      | 81/200 [00:03<00:05, 21.86it/s]
 42%|████▏     | 84/200 [00:03<00:05, 21.03it/s]
 44%|████▎     | 87/200 [00:03<00:05, 21.12it/s]
 45%|████▌     | 90/200 [00:04<00:05, 21.69it/s]
 46%|████▋     | 93/200 [00:04<00:04, 21.84it/s]
 48%|████▊     | 96/200 [00:04<00:04, 21.32it/s]
 50%|████▉     | 99/200 [00:04<00:04, 21.25it/s]
 51%|█████     | 102/200 [00:04<00:04, 21.89it/s]
 52%|█████▎    | 105/200 [00:04<00:04, 22.86it/s]
 54%|█████▍    | 108/200 [00:04<00:04, 22.78it/s]
 56%|█████▌    | 111/200 [00:05<00:03, 22.56it/s]
 57%|█████▋    | 114/200 [00:05<00:04, 21.45it/s]
 58%|█████▊    | 117/200 [00:05<00:03, 21.01it/s]
 60%|██████    | 120/200 [00:05<00:03, 21.69it/s]
 62%|██████▏   | 123/200 [00:05<00:03, 21.76it/s]
 63%|██████▎   | 126/200 [00:05<00:03, 19.94it/s]
 64%|██████▍   | 129/200 [00:05<00:03, 20.86it/s]
 66%|██████▌   | 132/200 [00:06<00:03, 21.76it/s]
 68%|██████▊   | 135/200 [00:06<00:03, 21.30it/s]
 69%|██████▉   | 138/200 [00:06<00:02, 21.38it/s]
 70%|███████   | 141/200 [00:06<00:02, 22.23it/s]
 72%|███████▏  | 144/200 [00:06<00:02, 21.67it/s]
 74%|███████▎  | 147/200 [00:06<00:02, 20.16it/s]
 75%|███████▌  | 150/200 [00:06<00:02, 21.24it/s]
 76%|███████▋  | 153/200 [00:07<00:02, 22.20it/s]
 78%|███████▊  | 156/200 [00:07<00:01, 22.91it/s]
 80%|███████▉  | 159/200 [00:07<00:01, 21.18it/s]
 81%|████████  | 162/200 [00:07<00:01, 19.29it/s]
 82%|████████▎ | 165/200 [00:07<00:01, 20.84it/s]
 84%|████████▍ | 168/200 [00:07<00:01, 20.07it/s]
 86%|████████▌ | 171/200 [00:07<00:01, 20.43it/s]
 87%|████████▋ | 174/200 [00:08<00:01, 20.39it/s]
 88%|████████▊ | 177/200 [00:08<00:01, 21.04it/s]
 90%|█████████ | 180/200 [00:08<00:00, 21.21it/s]
 92%|█████████▏| 183/200 [00:08<00:00, 22.43it/s]
 93%|█████████▎| 186/200 [00:08<00:00, 22.81it/s]
 94%|█████████▍| 189/200 [00:08<00:00, 22.52it/s]
 96%|█████████▌| 192/200 [00:08<00:00, 21.64it/s]
 98%|█████████▊| 195/200 [00:08<00:00, 22.36it/s]
 99%|█████████▉| 198/200 [00:09<00:00, 22.89it/s]
100%|██████████| 200/200 [00:09<00:00, 21.65it/s]
 Median Scale of 200 frame found to be: 1.0553561905460551
 Fit to reference shape: 

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12it [00:00, 49.81it/s]
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463it [00:05, 102.75it/s]
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534it [00:06, 105.44it/s]
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556it [00:06, 98.68it/s]
567it [00:06, 101.69it/s]
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589it [00:06, 95.77it/s]
600it [00:06, 98.57it/s]
610it [00:06, 91.36it/s]
620it [00:06, 93.56it/s]
631it [00:07, 95.75it/s]
641it [00:07, 94.10it/s]
651it [00:07, 89.59it/s]
661it [00:07, 84.45it/s]
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681it [00:07, 88.27it/s]
694it [00:07, 97.77it/s]
704it [00:07, 96.98it/s]
714it [00:07, 96.72it/s]
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736it [00:08, 102.31it/s]
747it [00:08, 99.27it/s] 
758it [00:08, 101.69it/s]
770it [00:08, 104.41it/s]
781it [00:08, 104.63it/s]
793it [00:08, 107.47it/s]
806it [00:08, 109.88it/s]
817it [00:08, 109.54it/s]
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852it [00:09, 111.78it/s]
864it [00:09, 112.66it/s]
876it [00:09, 107.41it/s]
887it [00:09, 102.57it/s]
900it [00:09, 108.36it/s]
911it [00:09, 96.97it/s] 
922it [00:09, 100.28it/s]
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946it [00:10, 107.29it/s]
958it [00:10, 109.51it/s]
970it [00:10, 107.41it/s]
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1005it [00:10, 101.76it/s]
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1190it [00:12, 103.95it/s]
1202it [00:12, 106.87it/s]
1213it [00:12, 101.12it/s]
1226it [00:12, 107.47it/s]
1237it [00:12, 106.80it/s]
1248it [00:13, 105.32it/s]
1260it [00:13, 107.44it/s]
1272it [00:13, 110.71it/s]
1284it [00:13, 107.66it/s]
1296it [00:13, 109.10it/s]
1307it [00:13, 107.71it/s]
1320it [00:13, 111.49it/s]
1332it [00:13, 110.33it/s]
1346it [00:13, 116.52it/s]
1358it [00:14, 115.06it/s]
1371it [00:14, 114.30it/s]
1383it [00:14, 106.02it/s]
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1578it [00:16, 102.63it/s]
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1601it [00:16, 105.77it/s]
1613it [00:16, 107.41it/s]
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1657it [00:16, 102.72it/s]
1671it [00:17, 112.15it/s]
1683it [00:17, 110.44it/s]
1695it [00:17, 109.76it/s]
1707it [00:17, 111.23it/s]
1719it [00:17, 106.08it/s]
1730it [00:17, 104.35it/s]
1741it [00:17, 102.90it/s]
1752it [00:17, 103.58it/s]
1763it [00:17, 98.72it/s] 
1775it [00:18, 102.90it/s]
1787it [00:18, 107.00it/s]
1798it [00:18, 100.38it/s]
1809it [00:18, 100.56it/s]
1822it [00:18, 107.19it/s]
1834it [00:18, 107.12it/s]
1845it [00:18, 100.91it/s]
1856it [00:18, 96.95it/s] 
1869it [00:18, 104.89it/s]
1881it [00:19, 107.69it/s]
1893it [00:19, 108.55it/s]
1904it [00:19, 101.63it/s]
1915it [00:19, 99.74it/s] 
1927it [00:19, 100.40it/s]
1939it [00:19, 101.82it/s]
1950it [00:19, 102.44it/s]
1962it [00:19, 105.92it/s]
1973it [00:19, 102.44it/s]
1984it [00:20, 98.83it/s] 
1994it [00:20, 99.13it/s]
2007it [00:20, 106.01it/s]
2018it [00:20, 102.29it/s]
2029it [00:20, 96.37it/s] 
2040it [00:20, 98.58it/s]
2050it [00:20, 97.50it/s]
2060it [00:20, 93.08it/s]
2072it [00:21, 99.43it/s]
2083it [00:21, 101.85it/s]
2094it [00:21, 100.76it/s]
2107it [00:21, 108.71it/s]
2119it [00:21, 110.06it/s]
2131it [00:21, 109.73it/s]
2145it [00:21, 116.45it/s]
2157it [00:21, 108.71it/s]
2168it [00:21, 103.83it/s]
2181it [00:21, 110.37it/s]
2193it [00:22, 107.86it/s]
2204it [00:22, 105.90it/s]
2215it [00:22, 96.36it/s] 
2228it [00:22, 104.07it/s]
2239it [00:22, 104.78it/s]
2250it [00:22, 104.79it/s]
2261it [00:22, 103.80it/s]
2274it [00:22, 108.17it/s]
2285it [00:22, 107.95it/s]
2297it [00:23, 110.27it/s]
2309it [00:23, 111.18it/s]
2321it [00:23, 113.08it/s]
2333it [00:23, 109.45it/s]
2345it [00:23, 109.88it/s]
2357it [00:23, 101.16it/s]
2368it [00:23, 99.74it/s] 
2380it [00:23, 104.50it/s]
2391it [00:24, 100.20it/s]
2402it [00:24, 101.42it/s]
2413it [00:24, 100.90it/s]
2424it [00:24, 98.67it/s] 
2434it [00:24, 98.75it/s]
2444it [00:24, 95.06it/s]
2454it [00:24, 93.07it/s]
2467it [00:24, 102.37it/s]
2480it [00:24, 109.29it/s]
2494it [00:24, 117.04it/s]
2506it [00:25, 107.39it/s]
2517it [00:25, 105.09it/s]
2528it [00:25, 103.53it/s]
2539it [00:25, 103.63it/s]
2551it [00:25, 104.18it/s]
2562it [00:25, 100.81it/s]
2573it [00:25, 91.00it/s] 
2584it [00:25, 94.84it/s]
2594it [00:26, 94.04it/s]
2604it [00:26, 95.29it/s]
2615it [00:26, 99.06it/s]
2626it [00:26, 98.23it/s]
2637it [00:26, 100.49it/s]
2650it [00:26, 101.87it/s]
2663it [00:26, 104.60it/s]
2674it [00:26, 103.32it/s]
2686it [00:26, 106.83it/s]
2698it [00:27, 109.36it/s]
2709it [00:27, 105.22it/s]
2722it [00:27, 111.25it/s]
2734it [00:27, 112.01it/s]
2746it [00:27, 110.19it/s]
2758it [00:27, 110.55it/s]
2771it [00:27, 114.24it/s]
2783it [00:27, 111.30it/s]
2795it [00:27, 107.78it/s]
2806it [00:28, 99.51it/s] 
2820it [00:28, 107.40it/s]
2832it [00:28, 105.87it/s]
2843it [00:28, 106.75it/s]
2855it [00:28, 108.34it/s]
2867it [00:28, 111.15it/s]
2879it [00:28, 110.36it/s]
2891it [00:28, 104.03it/s]
2903it [00:28, 107.27it/s]
2914it [00:29, 105.61it/s]
2928it [00:29, 111.53it/s]
2940it [00:29, 112.10it/s]
2952it [00:29, 101.91it/s]
2963it [00:29, 99.96it/s] 
2974it [00:29, 102.26it/s]
2985it [00:29, 102.72it/s]
2996it [00:29, 102.12it/s]
3007it [00:29, 99.71it/s] 
3019it [00:30, 105.16it/s]
3030it [00:30, 97.13it/s] 
3043it [00:30, 104.33it/s]
3054it [00:30, 95.48it/s] 
3066it [00:30, 101.35it/s]
3077it [00:30, 100.61it/s]
3088it [00:30, 96.26it/s] 
3098it [00:30, 87.39it/s]
3108it [00:30, 88.94it/s]
3118it [00:31, 89.10it/s]
3129it [00:31, 93.12it/s]
3140it [00:31, 92.24it/s]
3150it [00:31, 87.25it/s]
3159it [00:31, 86.36it/s]
3170it [00:31, 88.52it/s]
3181it [00:31, 93.16it/s]
3193it [00:31, 99.64it/s]
3204it [00:32, 96.86it/s]
3216it [00:32, 99.84it/s]
3229it [00:32, 107.79it/s]
3241it [00:32, 110.07it/s]
3255it [00:32, 116.53it/s]
3267it [00:32, 114.73it/s]
3279it [00:32, 110.30it/s]
3294it [00:32, 119.69it/s]
3307it [00:32, 112.64it/s]
3319it [00:33, 108.51it/s]
3331it [00:33, 111.27it/s]
3343it [00:33, 108.75it/s]
3358it [00:33, 116.64it/s]
3370it [00:33, 113.93it/s]
3382it [00:33, 108.28it/s]
3396it [00:33, 114.49it/s]
3408it [00:33, 108.72it/s]
3420it [00:33, 106.33it/s]
3432it [00:34, 108.96it/s]
3443it [00:34, 103.71it/s]
3454it [00:34, 99.88it/s] 
3465it [00:34, 101.65it/s]
3477it [00:34, 104.38it/s]
3488it [00:34, 102.62it/s]
3499it [00:34, 100.32it/s]
3513it [00:34, 109.35it/s]
3525it [00:34, 110.54it/s]
3537it [00:35, 100.56it/s]
3551it [00:35, 108.36it/s]
3564it [00:35, 113.03it/s]
3576it [00:35, 106.37it/s]
3587it [00:35, 105.02it/s]
3598it [00:35, 105.56it/s]
3609it [00:35, 103.62it/s]
3622it [00:35, 108.68it/s]
3633it [00:35, 105.44it/s]
3645it [00:36, 108.33it/s]
3656it [00:36, 99.77it/s] 
3667it [00:36, 94.51it/s]
3678it [00:36, 93.86it/s]
3688it [00:36, 92.82it/s]
3698it [00:36, 92.78it/s]
3709it [00:36, 95.32it/s]
3719it [00:36, 92.53it/s]
3730it [00:36, 96.33it/s]
3741it [00:37, 99.42it/s]
3753it [00:37, 97.73it/s]
3763it [00:37, 96.97it/s]
3773it [00:37, 96.85it/s]
3786it [00:37, 104.78it/s]
3797it [00:37, 106.18it/s]
3808it [00:37, 103.37it/s]
3819it [00:37, 104.90it/s]
3830it [00:37, 99.59it/s] 
3841it [00:38, 97.96it/s]
3854it [00:38, 104.93it/s]
3866it [00:38, 107.50it/s]
3877it [00:38, 106.71it/s]
3888it [00:38, 105.48it/s]
3899it [00:38, 100.43it/s]
3910it [00:38, 100.60it/s]
3921it [00:38, 101.75it/s]
3932it [00:38, 100.55it/s]
3943it [00:39, 99.04it/s] 
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Track data saved to /working/8d75a8ae-47c4-4cf7-883c-751dcc9148f8/processing/data/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/8d75a8ae-47c4-4cf7-883c-751dcc9148f8/processing/data/laser_aligned.ptd.cbor