=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.9
Input file:  /working/fb8c3bab-7bc8-41ad-8c0d-90313010e0b3/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 -=-=-=-=-=-=-
2025-12-22T07:54:27 - INFO:  Reading sonar track took 0.2190537452697754 sec!
2025-12-22T07:54:27 - INFO:  Reading sonar alignment track took {0.0005466938018798828} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  0%|          | 1/200 [00:00<00:23,  8.55it/s]
  1%|          | 2/200 [00:00<00:21,  9.27it/s]
  2%|▏         | 4/200 [00:00<00:14, 13.45it/s]
  3%|▎         | 6/200 [00:00<00:14, 13.81it/s]
  4%|▍         | 9/200 [00:00<00:11, 16.35it/s]
  6%|▌         | 11/200 [00:00<00:11, 16.10it/s]
  6%|▋         | 13/200 [00:00<00:11, 16.90it/s]
  8%|▊         | 15/200 [00:00<00:10, 17.36it/s]
  8%|▊         | 17/200 [00:01<00:11, 16.59it/s]
 10%|▉         | 19/200 [00:01<00:11, 16.12it/s]
 11%|█         | 22/200 [00:01<00:09, 17.87it/s]
 12%|█▎        | 25/200 [00:01<00:10, 17.32it/s]
 14%|█▎        | 27/200 [00:01<00:10, 17.17it/s]
 14%|█▍        | 29/200 [00:01<00:10, 17.02it/s]
 16%|█▌        | 32/200 [00:01<00:09, 18.36it/s]
 18%|█▊        | 35/200 [00:02<00:08, 19.76it/s]
 18%|█▊        | 37/200 [00:02<00:08, 18.16it/s]
 20%|██        | 40/200 [00:02<00:08, 19.34it/s]
 22%|██▏       | 43/200 [00:02<00:08, 18.62it/s]
 22%|██▎       | 45/200 [00:02<00:08, 17.99it/s]
 24%|██▍       | 48/200 [00:02<00:08, 18.65it/s]
 25%|██▌       | 50/200 [00:02<00:08, 18.56it/s]
 26%|██▌       | 52/200 [00:03<00:08, 17.11it/s]
 28%|██▊       | 55/200 [00:03<00:07, 18.66it/s]
 28%|██▊       | 57/200 [00:03<00:08, 17.67it/s]
 30%|██▉       | 59/200 [00:03<00:07, 17.91it/s]
 30%|███       | 61/200 [00:03<00:08, 17.01it/s]
 32%|███▏      | 64/200 [00:03<00:07, 19.03it/s]
 33%|███▎      | 66/200 [00:03<00:07, 19.08it/s]
 34%|███▍      | 68/200 [00:03<00:07, 16.70it/s]
 35%|███▌      | 70/200 [00:04<00:07, 17.46it/s]
 36%|███▋      | 73/200 [00:04<00:06, 18.34it/s]
 38%|███▊      | 75/200 [00:04<00:06, 18.63it/s]
 38%|███▊      | 77/200 [00:04<00:06, 18.89it/s]
 40%|████      | 80/200 [00:04<00:06, 18.96it/s]
 42%|████▏     | 83/200 [00:04<00:06, 19.07it/s]
 42%|████▎     | 85/200 [00:04<00:05, 19.24it/s]
 44%|████▍     | 88/200 [00:04<00:05, 20.16it/s]
 46%|████▌     | 91/200 [00:05<00:05, 19.71it/s]
 46%|████▋     | 93/200 [00:05<00:05, 19.59it/s]
 48%|████▊     | 95/200 [00:05<00:05, 18.38it/s]
 49%|████▉     | 98/200 [00:05<00:05, 18.45it/s]
 50%|█████     | 101/200 [00:05<00:05, 19.78it/s]
 52%|█████▏    | 103/200 [00:05<00:04, 19.42it/s]
 52%|█████▎    | 105/200 [00:05<00:05, 16.83it/s]
 54%|█████▎    | 107/200 [00:06<00:05, 16.77it/s]
 55%|█████▍    | 109/200 [00:06<00:05, 16.90it/s]
 56%|█████▌    | 112/200 [00:06<00:04, 17.94it/s]
 57%|█████▋    | 114/200 [00:06<00:04, 18.26it/s]
 58%|█████▊    | 116/200 [00:06<00:04, 17.33it/s]
 59%|█████▉    | 118/200 [00:06<00:05, 15.63it/s]
 60%|██████    | 120/200 [00:06<00:05, 15.74it/s]
 61%|██████    | 122/200 [00:06<00:04, 15.86it/s]
 62%|██████▏   | 124/200 [00:07<00:04, 16.27it/s]
 63%|██████▎   | 126/200 [00:07<00:04, 15.26it/s]
 64%|██████▍   | 128/200 [00:07<00:04, 15.33it/s]
 65%|██████▌   | 130/200 [00:07<00:04, 15.61it/s]
 66%|██████▋   | 133/200 [00:07<00:03, 18.00it/s]
 68%|██████▊   | 136/200 [00:07<00:03, 19.47it/s]
 69%|██████▉   | 138/200 [00:07<00:03, 19.59it/s]
 70%|███████   | 140/200 [00:07<00:03, 17.75it/s]
 71%|███████   | 142/200 [00:08<00:03, 17.94it/s]
 72%|███████▏  | 144/200 [00:08<00:03, 18.46it/s]
 73%|███████▎  | 146/200 [00:08<00:03, 15.24it/s]
 74%|███████▍  | 148/200 [00:08<00:03, 15.36it/s]
 76%|███████▌  | 151/200 [00:08<00:02, 17.13it/s]
 76%|███████▋  | 153/200 [00:08<00:02, 17.79it/s]
 78%|███████▊  | 155/200 [00:08<00:02, 17.87it/s]
 78%|███████▊  | 157/200 [00:08<00:02, 18.22it/s]
 80%|███████▉  | 159/200 [00:09<00:02, 17.48it/s]
 81%|████████  | 162/200 [00:09<00:02, 18.14it/s]
 82%|████████▏ | 164/200 [00:09<00:02, 16.24it/s]
 83%|████████▎ | 166/200 [00:09<00:02, 16.23it/s]
 84%|████████▍ | 169/200 [00:09<00:01, 18.15it/s]
 86%|████████▌ | 171/200 [00:09<00:01, 17.48it/s]
 87%|████████▋ | 174/200 [00:09<00:01, 17.47it/s]
 88%|████████▊ | 176/200 [00:10<00:01, 16.20it/s]
 89%|████████▉ | 178/200 [00:10<00:01, 16.32it/s]
 90%|█████████ | 180/200 [00:10<00:01, 16.76it/s]
 91%|█████████ | 182/200 [00:10<00:01, 16.68it/s]
 92%|█████████▏| 184/200 [00:10<00:01, 15.25it/s]
 93%|█████████▎| 186/200 [00:10<00:00, 15.77it/s]
 94%|█████████▍| 188/200 [00:10<00:00, 16.01it/s]
 95%|█████████▌| 190/200 [00:10<00:00, 16.34it/s]
 96%|█████████▋| 193/200 [00:11<00:00, 17.68it/s]
 98%|█████████▊| 195/200 [00:11<00:00, 16.59it/s]
 98%|█████████▊| 197/200 [00:11<00:00, 16.14it/s]
100%|█████████▉| 199/200 [00:11<00:00, 16.60it/s]
100%|██████████| 200/200 [00:11<00:00, 17.26it/s]
 Median Scale of 200 frame found to be: 1.0577537154535714
 Fit to reference shape: 

0it [00:00, ?it/s]
4it [00:00, 30.83it/s]
8it [00:00, 28.36it/s]
13it [00:00, 33.14it/s]
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22it [00:00, 33.63it/s]
26it [00:00, 35.06it/s]
30it [00:00, 33.81it/s]
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137it [00:02, 79.27it/s]
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381it [00:05, 79.09it/s]
391it [00:05, 81.88it/s]
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417it [00:06, 75.55it/s]
426it [00:06, 76.37it/s]
434it [00:06, 71.85it/s]
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457it [00:06, 90.81it/s]
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485it [00:07, 75.15it/s]
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558it [00:08, 82.67it/s]
570it [00:08, 90.25it/s]
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722it [00:10, 84.83it/s]
731it [00:10, 69.05it/s]
739it [00:10, 69.02it/s]
748it [00:10, 73.68it/s]
757it [00:10, 76.65it/s]
765it [00:10, 73.19it/s]
774it [00:10, 75.97it/s]
782it [00:10, 69.25it/s]
792it [00:11, 76.09it/s]
800it [00:11, 73.68it/s]
809it [00:11, 77.14it/s]
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922it [00:12, 71.54it/s]
930it [00:13, 73.62it/s]
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955it [00:13, 69.01it/s]
963it [00:13, 71.20it/s]
971it [00:13, 71.34it/s]
979it [00:13, 71.95it/s]
987it [00:13, 72.67it/s]
995it [00:13, 74.10it/s]
1003it [00:14, 69.72it/s]
1011it [00:14, 70.76it/s]
1020it [00:14, 75.15it/s]
1032it [00:14, 84.86it/s]
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1050it [00:14, 81.40it/s]
1061it [00:14, 87.99it/s]
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1410it [00:19, 91.53it/s]
1422it [00:19, 98.44it/s]
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1554it [00:20, 70.11it/s]
1563it [00:21, 74.13it/s]
1571it [00:21, 63.84it/s]
1582it [00:21, 74.26it/s]
1593it [00:21, 82.38it/s]
1602it [00:21, 77.61it/s]
1611it [00:21, 75.55it/s]
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1627it [00:21, 75.03it/s]
1635it [00:22, 67.71it/s]
1645it [00:22, 75.46it/s]
1654it [00:22, 77.08it/s]
1664it [00:22, 80.00it/s]
1675it [00:22, 87.13it/s]
1687it [00:22, 94.35it/s]
1697it [00:22, 90.54it/s]
1708it [00:22, 94.39it/s]
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1729it [00:23, 89.23it/s]
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1793it [00:23, 69.28it/s]
1801it [00:24, 69.05it/s]
1809it [00:24, 67.78it/s]
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1923it [00:25, 72.97it/s]
1931it [00:25, 73.22it/s]
1939it [00:25, 73.09it/s]
1947it [00:26, 74.93it/s]
1955it [00:26, 67.28it/s]
1962it [00:26, 66.14it/s]
1970it [00:26, 69.40it/s]
1978it [00:26, 69.24it/s]
1987it [00:26, 73.71it/s]
1999it [00:26, 82.63it/s]
2008it [00:26, 84.18it/s]
2017it [00:26, 75.86it/s]
2026it [00:27, 78.38it/s]
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2244it [00:30, 67.20it/s]
2251it [00:30, 67.12it/s]
2258it [00:30, 65.87it/s]
2266it [00:30, 69.20it/s]
2274it [00:30, 62.33it/s]
2283it [00:30, 67.73it/s]
2292it [00:30, 67.92it/s]
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2309it [00:30, 74.40it/s]
2318it [00:31, 76.35it/s]
2329it [00:31, 83.78it/s]
2340it [00:31, 89.49it/s]
2350it [00:31, 84.16it/s]
2359it [00:31, 77.09it/s]
2368it [00:31, 79.43it/s]
2377it [00:31, 79.78it/s]
2386it [00:31, 72.43it/s]
2395it [00:32, 73.52it/s]
2403it [00:32, 74.72it/s]
2411it [00:32, 72.43it/s]
2419it [00:32, 66.41it/s]
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2443it [00:32, 73.46it/s]
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2459it [00:32, 72.54it/s]
2467it [00:33, 74.45it/s]
2475it [00:33, 70.96it/s]
2483it [00:33, 65.00it/s]
2490it [00:33, 65.54it/s]
2497it [00:33, 66.34it/s]
2506it [00:33, 71.34it/s]
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2535it [00:33, 83.87it/s]
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2581it [00:34, 76.75it/s]
2589it [00:34, 74.12it/s]
2597it [00:34, 70.28it/s]
2605it [00:34, 64.20it/s]
2614it [00:35, 70.05it/s]
2622it [00:35, 70.38it/s]
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2645it [00:35, 68.88it/s]
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2663it [00:35, 74.83it/s]
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2691it [00:36, 81.76it/s]
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2728it [00:36, 78.92it/s]
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Track data saved to /working/fb8c3bab-7bc8-41ad-8c0d-90313010e0b3/processing/data/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/fb8c3bab-7bc8-41ad-8c0d-90313010e0b3/processing/data/laser_aligned.ptd.cbor