=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.9
Input file:  /working/7dfffdb1-dda2-41af-bc72-8cc7d5601f8e/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 -=-=-=-=-=-=-
2025-12-22T07:53:59 - INFO:  Reading sonar track took 0.07039284706115723 sec!
2025-12-22T07:53:59 - INFO:  Reading sonar alignment track took {0.0004112720489501953} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  1%|          | 2/200 [00:00<00:16, 11.67it/s]
  2%|▎         | 5/200 [00:00<00:10, 18.41it/s]
  4%|▍         | 9/200 [00:00<00:08, 23.56it/s]
  6%|▋         | 13/200 [00:00<00:07, 25.76it/s]
  8%|▊         | 16/200 [00:00<00:06, 26.42it/s]
 10%|▉         | 19/200 [00:00<00:07, 23.88it/s]
 11%|█         | 22/200 [00:00<00:07, 25.35it/s]
 12%|█▎        | 25/200 [00:01<00:06, 26.44it/s]
 14%|█▍        | 28/200 [00:01<00:06, 27.15it/s]
 16%|█▌        | 31/200 [00:01<00:06, 25.73it/s]
 17%|█▋        | 34/200 [00:01<00:06, 25.42it/s]
 18%|█▊        | 37/200 [00:01<00:06, 24.73it/s]
 20%|██        | 40/200 [00:01<00:06, 24.80it/s]
 22%|██▏       | 43/200 [00:01<00:06, 25.83it/s]
 23%|██▎       | 46/200 [00:01<00:05, 26.66it/s]
 24%|██▍       | 49/200 [00:01<00:05, 26.17it/s]
 26%|██▌       | 52/200 [00:02<00:06, 23.66it/s]
 28%|██▊       | 55/200 [00:02<00:06, 24.17it/s]
 29%|██▉       | 58/200 [00:02<00:05, 25.03it/s]
 30%|███       | 61/200 [00:02<00:05, 24.23it/s]
 32%|███▏      | 64/200 [00:02<00:05, 24.70it/s]
 34%|███▎      | 67/200 [00:02<00:05, 25.42it/s]
 35%|███▌      | 70/200 [00:02<00:05, 24.00it/s]
 36%|███▋      | 73/200 [00:02<00:05, 24.29it/s]
 38%|███▊      | 76/200 [00:03<00:05, 23.37it/s]
 40%|███▉      | 79/200 [00:03<00:05, 22.23it/s]
 41%|████      | 82/200 [00:03<00:05, 23.24it/s]
 43%|████▎     | 86/200 [00:03<00:04, 25.07it/s]
 45%|████▌     | 90/200 [00:03<00:04, 26.40it/s]
 46%|████▋     | 93/200 [00:03<00:04, 24.82it/s]
 48%|████▊     | 96/200 [00:03<00:04, 23.96it/s]
 50%|████▉     | 99/200 [00:04<00:04, 24.78it/s]
 51%|█████     | 102/200 [00:04<00:03, 25.15it/s]
 53%|█████▎    | 106/200 [00:04<00:03, 25.92it/s]
 55%|█████▍    | 109/200 [00:04<00:03, 25.75it/s]
 56%|█████▌    | 112/200 [00:04<00:03, 25.47it/s]
 57%|█████▊    | 115/200 [00:04<00:03, 24.17it/s]
 59%|█████▉    | 118/200 [00:04<00:03, 24.49it/s]
 60%|██████    | 121/200 [00:04<00:03, 25.07it/s]
 62%|██████▏   | 124/200 [00:05<00:03, 23.71it/s]
 64%|██████▎   | 127/200 [00:05<00:03, 23.17it/s]
 65%|██████▌   | 130/200 [00:05<00:03, 22.16it/s]
 66%|██████▋   | 133/200 [00:05<00:02, 23.39it/s]
 68%|██████▊   | 136/200 [00:05<00:02, 24.37it/s]
 70%|███████   | 140/200 [00:05<00:02, 26.45it/s]
 72%|███████▏  | 143/200 [00:05<00:02, 26.93it/s]
 73%|███████▎  | 146/200 [00:05<00:01, 27.12it/s]
 74%|███████▍  | 149/200 [00:06<00:01, 26.69it/s]
 76%|███████▌  | 152/200 [00:06<00:01, 27.36it/s]
 78%|███████▊  | 155/200 [00:06<00:01, 26.37it/s]
 79%|███████▉  | 158/200 [00:06<00:01, 25.17it/s]
 81%|████████  | 162/200 [00:06<00:01, 27.15it/s]
 83%|████████▎ | 166/200 [00:06<00:01, 27.66it/s]
 84%|████████▍ | 169/200 [00:06<00:01, 27.73it/s]
 86%|████████▌ | 172/200 [00:06<00:01, 27.83it/s]
 88%|████████▊ | 175/200 [00:07<00:01, 24.97it/s]
 89%|████████▉ | 178/200 [00:07<00:00, 23.08it/s]
 90%|█████████ | 181/200 [00:07<00:00, 23.39it/s]
 92%|█████████▏| 184/200 [00:07<00:00, 22.14it/s]
 94%|█████████▍| 188/200 [00:07<00:00, 25.16it/s]
 96%|█████████▌| 192/200 [00:07<00:00, 27.14it/s]
 98%|█████████▊| 195/200 [00:07<00:00, 27.40it/s]
 99%|█████████▉| 198/200 [00:07<00:00, 25.96it/s]
100%|██████████| 200/200 [00:08<00:00, 24.99it/s]
 Median Scale of 200 frame found to be: 1.052481120916188
 Fit to reference shape: 

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4it [00:00, 39.30it/s]
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520it [00:05, 104.81it/s]
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563it [00:06, 93.51it/s]
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617it [00:06, 92.46it/s]
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670it [00:07, 97.88it/s]
681it [00:07, 100.49it/s]
692it [00:07, 101.17it/s]
704it [00:07, 105.19it/s]
715it [00:07, 98.31it/s] 
725it [00:08, 83.53it/s]
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902it [00:09, 102.08it/s]
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955it [00:10, 97.18it/s]
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1190it [00:12, 98.91it/s]
1202it [00:12, 102.83it/s]
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1225it [00:13, 102.53it/s]
1236it [00:13, 95.25it/s] 
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1260it [00:13, 93.98it/s] 
1270it [00:13, 93.07it/s]
1280it [00:13, 94.65it/s]
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1301it [00:13, 96.95it/s]
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1670it [00:17, 103.16it/s]
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1760it [00:18, 113.64it/s]
1772it [00:18, 110.38it/s]
1784it [00:18, 105.33it/s]
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1808it [00:19, 111.31it/s]
1822it [00:19, 117.94it/s]
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1846it [00:19, 115.95it/s]
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1902it [00:19, 95.48it/s]
1913it [00:20, 95.04it/s]
1924it [00:20, 98.58it/s]
1934it [00:20, 97.07it/s]
1944it [00:20, 94.38it/s]
1955it [00:20, 96.10it/s]
1965it [00:20, 91.87it/s]
1975it [00:20, 93.51it/s]
1987it [00:20, 100.91it/s]
1999it [00:20, 105.35it/s]
2010it [00:21, 102.07it/s]
2023it [00:21, 107.40it/s]
2034it [00:21, 107.92it/s]
2045it [00:21, 104.11it/s]
2056it [00:21, 99.48it/s] 
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2091it [00:21, 107.24it/s]
2102it [00:21, 102.93it/s]
2113it [00:22, 103.27it/s]
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2167it [00:22, 99.38it/s]
2177it [00:22, 95.93it/s]
2187it [00:22, 95.11it/s]
2200it [00:22, 102.36it/s]
2212it [00:23, 105.09it/s]
2223it [00:23, 104.97it/s]
2236it [00:23, 106.03it/s]
2248it [00:23, 109.57it/s]
2259it [00:23, 102.26it/s]
2270it [00:23, 101.14it/s]
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2292it [00:23, 97.69it/s] 
2303it [00:23, 100.08it/s]
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2327it [00:24, 108.89it/s]
2338it [00:24, 103.92it/s]
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2420it [00:25, 108.52it/s]
2431it [00:25, 106.34it/s]
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2497it [00:25, 93.75it/s]
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2556it [00:26, 96.41it/s]
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2589it [00:26, 100.73it/s]
2601it [00:26, 105.21it/s]
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2646it [00:27, 100.30it/s]
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2695it [00:27, 109.07it/s]
2706it [00:27, 100.66it/s]
2717it [00:28, 95.91it/s] 
2727it [00:28, 94.45it/s]
2741it [00:28, 104.60it/s]
2752it [00:28, 100.68it/s]
2764it [00:28, 103.81it/s]
2775it [00:28, 103.31it/s]
2786it [00:28, 99.69it/s] 
2798it [00:28, 102.26it/s]
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2820it [00:29, 99.63it/s] 
2831it [00:29, 102.17it/s]
2843it [00:29, 105.88it/s]
2855it [00:29, 103.83it/s]
2866it [00:29, 103.23it/s]
2877it [00:29, 100.18it/s]
2888it [00:29, 100.22it/s]
2900it [00:29, 104.22it/s]
2911it [00:29, 102.99it/s]
2923it [00:30, 107.69it/s]
2934it [00:30, 103.88it/s]
2945it [00:30, 101.03it/s]
2958it [00:30, 106.98it/s]
2971it [00:30, 111.71it/s]
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2995it [00:30, 107.49it/s]
3006it [00:30, 105.45it/s]
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3084it [00:31, 74.31it/s]
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3133it [00:32, 102.73it/s]
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3266it [00:33, 99.38it/s]
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3403it [00:35, 101.94it/s]
3414it [00:35, 100.97it/s]
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3446it [00:35, 93.67it/s]
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3467it [00:35, 83.55it/s]
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3492it [00:35, 100.53it/s]
3503it [00:36, 96.98it/s] 
3513it [00:36, 91.32it/s]
3525it [00:36, 97.31it/s]
3539it [00:36, 106.42it/s]
3550it [00:36, 100.56it/s]
3562it [00:36, 101.56it/s]
3573it [00:36, 96.31it/s] 
3586it [00:36, 101.84it/s]
3597it [00:37, 97.74it/s] 
3608it [00:37, 100.87it/s]
3621it [00:37, 108.07it/s]
3634it [00:37, 109.78it/s]
3646it [00:37, 104.53it/s]
3658it [00:37, 106.66it/s]
3669it [00:37, 105.48it/s]
3682it [00:37, 111.84it/s]
3694it [00:37, 113.12it/s]
3706it [00:38, 111.47it/s]
3718it [00:38, 113.37it/s]
3730it [00:38, 112.46it/s]
3742it [00:38, 104.75it/s]
3753it [00:38, 94.42it/s] 
3767it [00:38, 104.83it/s]
3778it [00:38, 95.87it/s] 
3788it [00:38, 94.29it/s]
3800it [00:38, 99.50it/s]
3811it [00:39, 96.68it/s]
3821it [00:39, 91.43it/s]
3832it [00:39, 91.36it/s]
3843it [00:39, 95.00it/s]
3854it [00:39, 97.56it/s]
3865it [00:39, 99.51it/s]
3878it [00:39, 107.26it/s]
3891it [00:39, 112.09it/s]
3903it [00:39, 106.07it/s]
3914it [00:40, 96.30it/s] 
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Track data saved to /working/7dfffdb1-dda2-41af-bc72-8cc7d5601f8e/processing/data/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/7dfffdb1-dda2-41af-bc72-8cc7d5601f8e/processing/data/laser_aligned.ptd.cbor