=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.9
Input file:  /working/ba66fa3c-8a41-4d58-b1c8-eb287ab3d220/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 -=-=-=-=-=-=-
2025-12-22T07:54:57 - INFO:  Reading sonar track took 0.2680830955505371 sec!
2025-12-22T07:54:57 - INFO:  Reading sonar alignment track took {0.0005571842193603516} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  0%|          | 1/200 [00:00<00:25,  7.76it/s]
  2%|▏         | 3/200 [00:00<00:16, 11.74it/s]
  2%|▎         | 5/200 [00:00<00:15, 12.61it/s]
  4%|▎         | 7/200 [00:00<00:14, 13.34it/s]
  4%|▍         | 9/200 [00:00<00:13, 13.73it/s]
  6%|▌         | 11/200 [00:00<00:13, 13.76it/s]
  7%|▋         | 14/200 [00:00<00:11, 15.78it/s]
  8%|▊         | 16/200 [00:01<00:12, 14.16it/s]
  9%|▉         | 18/200 [00:01<00:12, 14.51it/s]
 10%|█         | 20/200 [00:01<00:11, 15.38it/s]
 11%|█         | 22/200 [00:01<00:12, 14.75it/s]
 12%|█▏        | 24/200 [00:01<00:11, 15.76it/s]
 13%|█▎        | 26/200 [00:01<00:11, 15.14it/s]
 14%|█▍        | 28/200 [00:01<00:11, 15.10it/s]
 15%|█▌        | 30/200 [00:02<00:11, 15.43it/s]
 16%|█▌        | 32/200 [00:02<00:10, 15.39it/s]
 18%|█▊        | 35/200 [00:02<00:09, 16.74it/s]
 18%|█▊        | 37/200 [00:02<00:09, 16.56it/s]
 20%|█▉        | 39/200 [00:02<00:09, 16.26it/s]
 20%|██        | 41/200 [00:02<00:09, 16.96it/s]
 22%|██▏       | 43/200 [00:02<00:09, 16.60it/s]
 22%|██▎       | 45/200 [00:02<00:09, 15.60it/s]
 24%|██▎       | 47/200 [00:03<00:09, 16.40it/s]
 24%|██▍       | 49/200 [00:03<00:10, 14.60it/s]
 26%|██▌       | 51/200 [00:03<00:09, 14.98it/s]
 27%|██▋       | 54/200 [00:03<00:08, 16.61it/s]
 28%|██▊       | 56/200 [00:03<00:09, 15.54it/s]
 29%|██▉       | 58/200 [00:03<00:09, 15.28it/s]
 30%|███       | 61/200 [00:04<00:09, 15.43it/s]
 32%|███▏      | 63/200 [00:04<00:09, 14.93it/s]
 32%|███▎      | 65/200 [00:04<00:08, 15.02it/s]
 34%|███▍      | 68/200 [00:04<00:08, 15.89it/s]
 36%|███▌      | 71/200 [00:04<00:07, 16.95it/s]
 36%|███▋      | 73/200 [00:04<00:07, 16.61it/s]
 38%|███▊      | 76/200 [00:04<00:06, 18.58it/s]
 39%|███▉      | 78/200 [00:04<00:06, 18.53it/s]
 40%|████      | 80/200 [00:05<00:06, 18.45it/s]
 41%|████      | 82/200 [00:05<00:06, 18.14it/s]
 42%|████▏     | 84/200 [00:05<00:06, 18.47it/s]
 43%|████▎     | 86/200 [00:05<00:06, 16.55it/s]
 44%|████▍     | 88/200 [00:05<00:06, 17.19it/s]
 45%|████▌     | 90/200 [00:05<00:06, 17.37it/s]
 46%|████▋     | 93/200 [00:05<00:05, 18.20it/s]
 48%|████▊     | 95/200 [00:05<00:06, 17.32it/s]
 48%|████▊     | 97/200 [00:06<00:05, 17.91it/s]
 50%|█████     | 100/200 [00:06<00:05, 18.22it/s]
 52%|█████▏    | 103/200 [00:06<00:04, 19.66it/s]
 52%|█████▎    | 105/200 [00:06<00:04, 19.44it/s]
 54%|█████▎    | 107/200 [00:06<00:05, 18.49it/s]
 55%|█████▍    | 109/200 [00:06<00:05, 16.89it/s]
 56%|█████▌    | 111/200 [00:06<00:05, 16.79it/s]
 57%|█████▋    | 114/200 [00:07<00:04, 17.57it/s]
 58%|█████▊    | 116/200 [00:07<00:05, 16.40it/s]
 59%|█████▉    | 118/200 [00:07<00:04, 17.13it/s]
 60%|██████    | 120/200 [00:07<00:04, 16.82it/s]
 61%|██████    | 122/200 [00:07<00:04, 16.66it/s]
 62%|██████▎   | 125/200 [00:07<00:04, 18.35it/s]
 64%|██████▎   | 127/200 [00:07<00:04, 16.50it/s]
 64%|██████▍   | 129/200 [00:07<00:04, 15.90it/s]
 66%|██████▌   | 132/200 [00:08<00:03, 18.02it/s]
 68%|██████▊   | 135/200 [00:08<00:03, 18.82it/s]
 69%|██████▉   | 138/200 [00:08<00:03, 19.64it/s]
 70%|███████   | 141/200 [00:08<00:03, 19.39it/s]
 72%|███████▏  | 143/200 [00:08<00:03, 18.86it/s]
 73%|███████▎  | 146/200 [00:08<00:02, 20.85it/s]
 74%|███████▍  | 149/200 [00:08<00:02, 18.11it/s]
 76%|███████▌  | 151/200 [00:09<00:02, 17.12it/s]
 76%|███████▋  | 153/200 [00:09<00:02, 17.66it/s]
 78%|███████▊  | 155/200 [00:09<00:02, 16.91it/s]
 79%|███████▉  | 158/200 [00:09<00:02, 17.61it/s]
 80%|████████  | 160/200 [00:09<00:02, 16.64it/s]
 81%|████████  | 162/200 [00:09<00:02, 17.31it/s]
 82%|████████▏ | 164/200 [00:09<00:02, 17.32it/s]
 83%|████████▎ | 166/200 [00:09<00:01, 17.64it/s]
 84%|████████▍ | 168/200 [00:10<00:01, 16.76it/s]
 85%|████████▌ | 170/200 [00:10<00:01, 17.42it/s]
 86%|████████▌ | 172/200 [00:10<00:01, 16.52it/s]
 87%|████████▋ | 174/200 [00:10<00:01, 15.30it/s]
 88%|████████▊ | 177/200 [00:10<00:01, 16.65it/s]
 90%|████████▉ | 179/200 [00:10<00:01, 15.54it/s]
 91%|█████████ | 182/200 [00:10<00:01, 17.96it/s]
 92%|█████████▎| 185/200 [00:11<00:00, 18.92it/s]
 94%|█████████▎| 187/200 [00:11<00:00, 19.01it/s]
 95%|█████████▌| 190/200 [00:11<00:00, 20.42it/s]
 96%|█████████▋| 193/200 [00:11<00:00, 19.75it/s]
 98%|█████████▊| 196/200 [00:11<00:00, 20.94it/s]
100%|█████████▉| 199/200 [00:11<00:00, 18.46it/s]
100%|██████████| 200/200 [00:11<00:00, 16.80it/s]
 Median Scale of 200 frame found to be: 1.0535038178794225
 Fit to reference shape: 

0it [00:00, ?it/s]
3it [00:00, 26.43it/s]
8it [00:00, 36.47it/s]
12it [00:00, 32.79it/s]
16it [00:00, 33.21it/s]
20it [00:00, 30.73it/s]
25it [00:00, 34.35it/s]
30it [00:00, 36.29it/s]
37it [00:01, 41.45it/s]
44it [00:01, 46.24it/s]
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55it [00:01, 46.36it/s]
61it [00:01, 49.91it/s]
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92it [00:01, 71.38it/s]
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128it [00:02, 78.85it/s]
137it [00:02, 81.18it/s]
146it [00:02, 73.75it/s]
158it [00:02, 83.57it/s]
167it [00:02, 81.47it/s]
177it [00:02, 85.32it/s]
186it [00:03, 65.34it/s]
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355it [00:05, 77.15it/s]
363it [00:05, 76.38it/s]
371it [00:05, 69.92it/s]
379it [00:05, 69.09it/s]
387it [00:05, 70.51it/s]
396it [00:05, 74.37it/s]
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415it [00:06, 79.81it/s]
424it [00:06, 79.30it/s]
434it [00:06, 84.86it/s]
443it [00:06, 79.47it/s]
452it [00:06, 81.12it/s]
461it [00:06, 79.88it/s]
470it [00:06, 81.54it/s]
482it [00:06, 90.86it/s]
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501it [00:07, 81.16it/s]
510it [00:07, 77.90it/s]
518it [00:07, 76.52it/s]
526it [00:07, 75.79it/s]
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554it [00:07, 84.06it/s]
563it [00:08, 73.55it/s]
573it [00:08, 78.27it/s]
582it [00:08, 75.46it/s]
591it [00:08, 78.79it/s]
600it [00:08, 68.13it/s]
608it [00:08, 64.95it/s]
616it [00:08, 65.33it/s]
626it [00:08, 69.08it/s]
634it [00:09, 67.35it/s]
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650it [00:09, 71.68it/s]
660it [00:09, 79.06it/s]
671it [00:09, 82.11it/s]
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689it [00:09, 80.59it/s]
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718it [00:10, 85.91it/s]
728it [00:10, 87.06it/s]
737it [00:10, 87.31it/s]
749it [00:10, 94.59it/s]
759it [00:10, 91.19it/s]
769it [00:10, 87.10it/s]
782it [00:10, 95.63it/s]
792it [00:10, 93.19it/s]
802it [00:11, 84.45it/s]
811it [00:11, 80.85it/s]
820it [00:11, 82.50it/s]
830it [00:11, 79.93it/s]
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866it [00:11, 79.65it/s]
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952it [00:12, 86.53it/s]
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970it [00:13, 78.81it/s]
978it [00:13, 74.14it/s]
986it [00:13, 74.74it/s]
997it [00:13, 82.92it/s]
1007it [00:13, 80.82it/s]
1016it [00:13, 81.24it/s]
1025it [00:13, 71.39it/s]
1037it [00:14, 83.33it/s]
1049it [00:14, 91.56it/s]
1059it [00:14, 86.92it/s]
1068it [00:14, 79.84it/s]
1077it [00:14, 79.89it/s]
1087it [00:14, 84.46it/s]
1096it [00:14, 83.61it/s]
1105it [00:14, 84.18it/s]
1114it [00:14, 76.71it/s]
1122it [00:15, 75.84it/s]
1130it [00:15, 70.13it/s]
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1154it [00:15, 66.02it/s]
1164it [00:15, 73.99it/s]
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1192it [00:16, 75.15it/s]
1200it [00:16, 75.81it/s]
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1226it [00:16, 80.47it/s]
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1350it [00:18, 68.38it/s]
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1385it [00:18, 72.54it/s]
1393it [00:18, 67.52it/s]
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1409it [00:18, 71.86it/s]
1420it [00:19, 77.51it/s]
1428it [00:19, 70.09it/s]
1436it [00:19, 72.48it/s]
1444it [00:19, 74.46it/s]
1452it [00:19, 74.43it/s]
1461it [00:19, 78.33it/s]
1469it [00:19, 78.03it/s]
1477it [00:19, 64.44it/s]
1486it [00:19, 69.22it/s]
1496it [00:20, 75.61it/s]
1508it [00:20, 85.89it/s]
1517it [00:20, 86.66it/s]
1526it [00:20, 85.56it/s]
1535it [00:20, 85.82it/s]
1544it [00:20, 85.27it/s]
1553it [00:20, 76.75it/s]
1561it [00:20, 76.81it/s]
1569it [00:20, 73.39it/s]
1579it [00:21, 76.79it/s]
1588it [00:21, 77.97it/s]
1597it [00:21, 79.67it/s]
1609it [00:21, 89.66it/s]
1619it [00:21, 83.78it/s]
1629it [00:21, 86.09it/s]
1638it [00:21, 85.19it/s]
1647it [00:21, 78.83it/s]
1656it [00:21, 78.44it/s]
1666it [00:22, 79.25it/s]
1674it [00:22, 77.40it/s]
1682it [00:22, 75.03it/s]
1692it [00:22, 80.84it/s]
1701it [00:22, 75.35it/s]
1711it [00:22, 77.20it/s]
1719it [00:22, 77.40it/s]
1728it [00:22, 80.28it/s]
1737it [00:23, 76.80it/s]
1745it [00:23, 73.93it/s]
1755it [00:23, 78.91it/s]
1763it [00:23, 76.99it/s]
1774it [00:23, 85.14it/s]
1785it [00:23, 90.73it/s]
1795it [00:23, 83.25it/s]
1804it [00:23, 77.86it/s]
1812it [00:23, 77.89it/s]
1820it [00:24, 78.20it/s]
1828it [00:24, 78.68it/s]
1836it [00:24, 77.40it/s]
1844it [00:24, 77.89it/s]
1852it [00:24, 76.06it/s]
1861it [00:24, 79.66it/s]
1870it [00:24, 65.86it/s]
1878it [00:24, 67.63it/s]
1889it [00:25, 74.42it/s]
1899it [00:25, 79.64it/s]
1908it [00:25, 80.95it/s]
1917it [00:25, 78.91it/s]
1926it [00:25, 78.09it/s]
1937it [00:25, 86.58it/s]
1947it [00:25, 88.61it/s]
1957it [00:25, 90.76it/s]
1967it [00:25, 85.52it/s]
1976it [00:26, 72.59it/s]
1984it [00:26, 69.19it/s]
1992it [00:26, 69.57it/s]
2000it [00:26, 70.71it/s]
2012it [00:26, 82.24it/s]
2021it [00:26, 72.22it/s]
2030it [00:26, 75.38it/s]
2038it [00:26, 76.17it/s]
2047it [00:27, 77.66it/s]
2055it [00:27, 69.63it/s]
2066it [00:27, 75.96it/s]
2074it [00:27, 76.70it/s]
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2093it [00:27, 80.42it/s]
2103it [00:27, 84.25it/s]
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2131it [00:28, 76.64it/s]
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2158it [00:28, 77.35it/s]
2166it [00:28, 75.77it/s]
2179it [00:28, 89.14it/s]
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2198it [00:28, 81.30it/s]
2207it [00:29, 79.44it/s]
2216it [00:29, 78.69it/s]
2224it [00:29, 76.67it/s]
2234it [00:29, 81.00it/s]
2243it [00:29, 77.91it/s]
2253it [00:29, 81.79it/s]
2262it [00:29, 73.42it/s]
2270it [00:29, 65.87it/s]
2280it [00:30, 73.95it/s]
2289it [00:30, 75.72it/s]
2297it [00:30, 69.48it/s]
2305it [00:30, 71.20it/s]
2314it [00:30, 75.00it/s]
2324it [00:30, 81.34it/s]
2333it [00:30, 72.59it/s]
2342it [00:30, 75.31it/s]
2351it [00:30, 77.40it/s]
2360it [00:31, 78.34it/s]
2368it [00:31, 77.00it/s]
2376it [00:31, 77.15it/s]
2384it [00:31, 75.56it/s]
2392it [00:31, 74.95it/s]
2400it [00:31, 69.75it/s]
2408it [00:31, 70.82it/s]
2418it [00:31, 78.66it/s]
2427it [00:31, 79.13it/s]
2436it [00:32, 81.97it/s]
2445it [00:32, 77.19it/s]
2458it [00:32, 90.53it/s]
2470it [00:32, 97.86it/s]
2480it [00:32, 87.57it/s]
2490it [00:32, 87.81it/s]
2501it [00:32, 92.01it/s]
2511it [00:32, 90.76it/s]
2521it [00:33, 79.69it/s]
2530it [00:33, 78.43it/s]
2539it [00:33, 80.25it/s]
2548it [00:33, 72.98it/s]
2556it [00:33, 73.88it/s]
2565it [00:33, 74.16it/s]
2573it [00:33, 68.59it/s]
2581it [00:33, 70.07it/s]
2590it [00:33, 73.90it/s]
2599it [00:34, 77.83it/s]
2609it [00:34, 83.78it/s]
2618it [00:34, 83.98it/s]
2627it [00:34, 75.48it/s]
2638it [00:34, 78.19it/s]
2647it [00:34, 80.87it/s]
2660it [00:34, 92.62it/s]
2670it [00:34, 83.43it/s]
2679it [00:35, 76.70it/s]
2687it [00:35, 75.02it/s]
2695it [00:35, 70.21it/s]
2703it [00:35, 72.48it/s]
2711it [00:35, 72.82it/s]
2719it [00:35, 70.18it/s]
2728it [00:35, 74.38it/s]
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2750it [00:35, 90.82it/s]
2760it [00:36, 87.76it/s]
2769it [00:36, 86.57it/s]
2778it [00:36, 82.00it/s]
2789it [00:36, 87.59it/s]
2798it [00:36, 83.06it/s]
2807it [00:36, 77.63it/s]
2817it [00:36, 82.31it/s]
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Track data saved to /working/ba66fa3c-8a41-4d58-b1c8-eb287ab3d220/processing/data/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/ba66fa3c-8a41-4d58-b1c8-eb287ab3d220/processing/data/laser_aligned.ptd.cbor