=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.9
Input file:  /working/a01afb87-79de-41ee-9fa8-299cd2a054f6/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 -=-=-=-=-=-=-
2025-12-22T08:19:01 - INFO:  Reading sonar track took 0.014083385467529297 sec!
2025-12-22T08:19:01 - INFO:  Reading sonar alignment track took {0.0005009174346923828} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  0%|          | 1/200 [00:00<00:20,  9.66it/s]
  2%|▏         | 3/200 [00:00<00:13, 14.30it/s]
  3%|▎         | 6/200 [00:00<00:11, 17.37it/s]
  4%|▍         | 9/200 [00:00<00:09, 21.03it/s]
  6%|▌         | 12/200 [00:00<00:07, 23.64it/s]
  8%|▊         | 15/200 [00:00<00:07, 23.94it/s]
  9%|▉         | 18/200 [00:00<00:07, 25.15it/s]
 11%|█         | 22/200 [00:00<00:06, 26.36it/s]
 13%|█▎        | 26/200 [00:01<00:06, 27.14it/s]
 14%|█▍        | 29/200 [00:01<00:06, 27.43it/s]
 16%|█▌        | 32/200 [00:01<00:06, 27.39it/s]
 18%|█▊        | 35/200 [00:01<00:06, 26.02it/s]
 19%|█▉        | 38/200 [00:01<00:06, 25.50it/s]
 20%|██        | 41/200 [00:01<00:06, 26.42it/s]
 22%|██▏       | 44/200 [00:01<00:05, 26.01it/s]
 24%|██▎       | 47/200 [00:01<00:05, 25.64it/s]
 25%|██▌       | 50/200 [00:02<00:05, 25.98it/s]
 26%|██▋       | 53/200 [00:02<00:06, 24.34it/s]
 28%|██▊       | 56/200 [00:02<00:05, 25.39it/s]
 30%|██▉       | 59/200 [00:02<00:05, 24.56it/s]
 31%|███       | 62/200 [00:02<00:05, 24.83it/s]
 33%|███▎      | 66/200 [00:02<00:05, 26.75it/s]
 34%|███▍      | 69/200 [00:02<00:04, 26.89it/s]
 36%|███▌      | 72/200 [00:02<00:05, 22.00it/s]
 38%|███▊      | 75/200 [00:03<00:05, 20.95it/s]
 39%|███▉      | 78/200 [00:03<00:05, 20.51it/s]
 40%|████      | 81/200 [00:03<00:05, 22.22it/s]
 42%|████▏     | 84/200 [00:03<00:04, 23.68it/s]
 44%|████▎     | 87/200 [00:03<00:04, 24.56it/s]
 45%|████▌     | 90/200 [00:03<00:04, 23.64it/s]
 46%|████▋     | 93/200 [00:03<00:04, 23.73it/s]
 48%|████▊     | 96/200 [00:03<00:04, 25.05it/s]
 50%|████▉     | 99/200 [00:04<00:04, 23.12it/s]
 51%|█████     | 102/200 [00:04<00:04, 23.86it/s]
 52%|█████▎    | 105/200 [00:04<00:03, 24.40it/s]
 54%|█████▍    | 108/200 [00:04<00:03, 23.52it/s]
 56%|█████▌    | 111/200 [00:04<00:03, 25.02it/s]
 57%|█████▋    | 114/200 [00:04<00:03, 24.65it/s]
 58%|█████▊    | 117/200 [00:04<00:03, 25.78it/s]
 60%|██████    | 120/200 [00:04<00:03, 25.54it/s]
 62%|██████▏   | 123/200 [00:05<00:03, 23.13it/s]
 63%|██████▎   | 126/200 [00:05<00:03, 23.99it/s]
 64%|██████▍   | 129/200 [00:05<00:02, 25.14it/s]
 66%|██████▌   | 132/200 [00:05<00:02, 25.16it/s]
 68%|██████▊   | 135/200 [00:05<00:02, 24.51it/s]
 69%|██████▉   | 138/200 [00:05<00:02, 23.12it/s]
 70%|███████   | 141/200 [00:05<00:02, 23.60it/s]
 72%|███████▏  | 144/200 [00:05<00:02, 22.98it/s]
 74%|███████▎  | 147/200 [00:06<00:02, 23.39it/s]
 75%|███████▌  | 150/200 [00:06<00:02, 24.63it/s]
 76%|███████▋  | 153/200 [00:06<00:02, 22.69it/s]
 78%|███████▊  | 156/200 [00:06<00:01, 23.22it/s]
 80%|████████  | 160/200 [00:06<00:01, 25.22it/s]
 82%|████████▏ | 163/200 [00:06<00:01, 25.02it/s]
 83%|████████▎ | 166/200 [00:06<00:01, 24.28it/s]
 84%|████████▍ | 169/200 [00:07<00:01, 23.65it/s]
 86%|████████▌ | 172/200 [00:07<00:01, 22.58it/s]
 88%|████████▊ | 175/200 [00:07<00:01, 22.45it/s]
 89%|████████▉ | 178/200 [00:07<00:00, 23.82it/s]
 90%|█████████ | 181/200 [00:07<00:00, 25.30it/s]
 92%|█████████▏| 184/200 [00:07<00:00, 26.06it/s]
 94%|█████████▎| 187/200 [00:07<00:00, 25.38it/s]
 95%|█████████▌| 190/200 [00:07<00:00, 25.41it/s]
 96%|█████████▋| 193/200 [00:07<00:00, 25.01it/s]
 98%|█████████▊| 196/200 [00:08<00:00, 23.73it/s]
100%|█████████▉| 199/200 [00:08<00:00, 21.60it/s]
100%|██████████| 200/200 [00:08<00:00, 24.01it/s]
 Median Scale of 200 frame found to be: 1.1988354676510258
 Fit to reference shape: 

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527it [00:06, 110.49it/s]
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551it [00:06, 104.00it/s]
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598it [00:06, 110.57it/s]
610it [00:06, 103.36it/s]
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633it [00:07, 104.75it/s]
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659it [00:07, 115.30it/s]
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682it [00:07, 107.49it/s]
694it [00:07, 110.72it/s]
706it [00:07, 111.61it/s]
718it [00:07, 102.16it/s]
731it [00:08, 107.44it/s]
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958it [00:10, 104.16it/s]
970it [00:10, 107.40it/s]
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1240it [00:13, 115.56it/s]
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1795it [00:18, 92.21it/s]
1806it [00:18, 95.68it/s]
1817it [00:18, 99.62it/s]
1828it [00:19, 101.83it/s]
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1896it [00:19, 97.67it/s] 
1907it [00:19, 96.98it/s]
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1930it [00:20, 99.38it/s] 
1941it [00:20, 100.09it/s]
1953it [00:20, 103.14it/s]
1964it [00:20, 102.64it/s]
1976it [00:20, 103.17it/s]
1989it [00:20, 109.70it/s]
2001it [00:20, 106.44it/s]
2012it [00:20, 106.87it/s]
2026it [00:20, 115.12it/s]
2038it [00:21, 114.00it/s]
2050it [00:21, 112.92it/s]
2063it [00:21, 117.02it/s]
2075it [00:21, 113.39it/s]
2088it [00:21, 117.50it/s]
2100it [00:21, 110.47it/s]
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2135it [00:21, 101.73it/s]
2146it [00:22, 98.19it/s] 
2157it [00:22, 96.06it/s]
2167it [00:22, 89.44it/s]
2180it [00:22, 98.55it/s]
2191it [00:22, 101.49it/s]
2203it [00:22, 102.40it/s]
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2228it [00:22, 104.92it/s]
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2252it [00:23, 109.97it/s]
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2276it [00:23, 107.54it/s]
2287it [00:23, 103.20it/s]
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2321it [00:23, 102.14it/s]
2332it [00:23, 102.36it/s]
2343it [00:24, 100.16it/s]
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2429it [00:24, 96.47it/s] 
2441it [00:25, 102.75it/s]
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2475it [00:25, 99.25it/s] 
2486it [00:25, 99.73it/s]
2497it [00:25, 102.26it/s]
2509it [00:25, 104.07it/s]
2520it [00:25, 99.08it/s] 
2532it [00:25, 104.01it/s]
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2555it [00:26, 104.78it/s]
2568it [00:26, 107.25it/s]
2579it [00:26, 104.71it/s]
2591it [00:26, 108.13it/s]
2602it [00:26, 94.80it/s] 
2612it [00:26, 95.09it/s]
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2643it [00:27, 95.50it/s]
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2731it [00:27, 95.49it/s] 
2741it [00:28, 94.81it/s]
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2774it [00:28, 98.00it/s] 
2786it [00:28, 102.54it/s]
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2809it [00:28, 99.66it/s] 
2821it [00:28, 104.48it/s]
2834it [00:28, 109.69it/s]
2846it [00:29, 102.59it/s]
2857it [00:29, 98.01it/s] 
2870it [00:29, 104.35it/s]
2881it [00:29, 100.05it/s]
2894it [00:29, 106.52it/s]
2905it [00:29, 104.01it/s]
2918it [00:29, 109.15it/s]
2929it [00:29, 102.51it/s]
2942it [00:29, 107.89it/s]
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2966it [00:30, 95.31it/s] 
2976it [00:30, 94.24it/s]
2986it [00:30, 90.93it/s]
2996it [00:30, 91.30it/s]
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3235it [00:33, 99.34it/s]
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3256it [00:33, 97.52it/s]
3266it [00:33, 96.34it/s]
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3317it [00:33, 90.60it/s]
3329it [00:33, 97.83it/s]
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3408it [00:34, 99.95it/s]
3419it [00:34, 94.23it/s]
3432it [00:35, 102.13it/s]
3443it [00:35, 100.06it/s]
3454it [00:35, 91.77it/s] 
3465it [00:35, 95.77it/s]
3475it [00:35, 95.08it/s]
3485it [00:35, 93.38it/s]
3495it [00:35, 93.98it/s]
3506it [00:35, 97.48it/s]
3517it [00:35, 100.05it/s]
3528it [00:36, 99.72it/s] 
3539it [00:36, 102.44it/s]
3552it [00:36, 107.79it/s]
3563it [00:36, 98.79it/s] 
3574it [00:36, 92.57it/s]
3584it [00:36, 93.87it/s]
3594it [00:36, 85.67it/s]
3607it [00:36, 96.74it/s]
3620it [00:36, 104.42it/s]
3632it [00:37, 107.65it/s]
3643it [00:37, 90.78it/s] 
3656it [00:37, 99.75it/s]
3668it [00:37, 103.16it/s]
3679it [00:37, 95.02it/s] 
3693it [00:37, 105.92it/s]
3705it [00:37, 98.49it/s] 
3716it [00:37, 95.11it/s]
3727it [00:38, 98.03it/s]
3738it [00:38, 98.13it/s]
3748it [00:38, 96.07it/s]
3759it [00:38, 98.51it/s]
3771it [00:38, 104.08it/s]
3782it [00:38, 90.81it/s] 
3794it [00:38, 98.31it/s]
3805it [00:38, 95.86it/s]
3818it [00:38, 103.02it/s]
3829it [00:39, 103.70it/s]
3840it [00:39, 96.64it/s] 
3850it [00:39, 87.18it/s]
3863it [00:39, 97.90it/s]
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Track data saved to /working/a01afb87-79de-41ee-9fa8-299cd2a054f6/processing/data/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/a01afb87-79de-41ee-9fa8-299cd2a054f6/processing/data/laser_aligned.ptd.cbor