=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.9
Input file:  /working/8172fde5-b9bd-4f68-ae3a-ee916b8bc15f/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 -=-=-=-=-=-=-
2025-12-22T08:10:04 - INFO:  Reading sonar track took 0.28795790672302246 sec!
2025-12-22T08:10:04 - INFO:  Reading sonar alignment track took {0.0034737586975097656} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  1%|          | 2/200 [00:00<00:11, 17.31it/s]
  3%|▎         | 6/200 [00:00<00:07, 24.75it/s]
  5%|▌         | 10/200 [00:00<00:07, 27.02it/s]
  6%|▋         | 13/200 [00:00<00:07, 25.06it/s]
  8%|▊         | 17/200 [00:00<00:06, 26.63it/s]
 10%|█         | 21/200 [00:00<00:06, 28.55it/s]
 12%|█▏        | 24/200 [00:00<00:06, 26.02it/s]
 14%|█▎        | 27/200 [00:01<00:06, 26.31it/s]
 15%|█▌        | 30/200 [00:01<00:06, 27.07it/s]
 16%|█▋        | 33/200 [00:01<00:06, 27.46it/s]
 18%|█▊        | 36/200 [00:01<00:06, 26.87it/s]
 20%|█▉        | 39/200 [00:01<00:06, 26.35it/s]
 21%|██        | 42/200 [00:01<00:06, 24.72it/s]
 22%|██▎       | 45/200 [00:01<00:06, 24.73it/s]
 24%|██▍       | 48/200 [00:01<00:06, 25.26it/s]
 26%|██▌       | 51/200 [00:01<00:06, 24.80it/s]
 27%|██▋       | 54/200 [00:02<00:05, 25.07it/s]
 28%|██▊       | 57/200 [00:02<00:05, 24.98it/s]
 30%|███       | 60/200 [00:02<00:05, 24.89it/s]
 32%|███▏      | 63/200 [00:02<00:05, 25.96it/s]
 34%|███▎      | 67/200 [00:02<00:04, 27.62it/s]
 35%|███▌      | 70/200 [00:02<00:04, 27.11it/s]
 36%|███▋      | 73/200 [00:02<00:04, 27.86it/s]
 38%|███▊      | 77/200 [00:02<00:04, 28.21it/s]
 40%|████      | 81/200 [00:03<00:03, 30.73it/s]
 42%|████▎     | 85/200 [00:03<00:03, 28.75it/s]
 44%|████▍     | 88/200 [00:03<00:03, 28.59it/s]
 46%|████▌     | 92/200 [00:03<00:03, 28.96it/s]
 48%|████▊     | 96/200 [00:03<00:03, 29.73it/s]
 50%|████▉     | 99/200 [00:03<00:03, 29.72it/s]
 51%|█████     | 102/200 [00:03<00:03, 28.80it/s]
 52%|█████▎    | 105/200 [00:03<00:03, 28.53it/s]
 54%|█████▍    | 108/200 [00:04<00:03, 26.42it/s]
 56%|█████▌    | 111/200 [00:04<00:03, 27.27it/s]
 57%|█████▋    | 114/200 [00:04<00:03, 25.16it/s]
 58%|█████▊    | 117/200 [00:04<00:03, 26.22it/s]
 60%|██████    | 120/200 [00:04<00:03, 25.42it/s]
 62%|██████▏   | 123/200 [00:04<00:03, 24.59it/s]
 63%|██████▎   | 126/200 [00:04<00:02, 25.93it/s]
 64%|██████▍   | 129/200 [00:04<00:02, 24.07it/s]
 66%|██████▌   | 132/200 [00:04<00:02, 24.74it/s]
 68%|██████▊   | 136/200 [00:05<00:02, 27.82it/s]
 70%|███████   | 140/200 [00:05<00:02, 29.38it/s]
 72%|███████▏  | 143/200 [00:05<00:01, 28.90it/s]
 73%|███████▎  | 146/200 [00:05<00:01, 28.99it/s]
 74%|███████▍  | 149/200 [00:05<00:01, 28.95it/s]
 76%|███████▌  | 152/200 [00:05<00:01, 27.33it/s]
 78%|███████▊  | 155/200 [00:05<00:01, 26.75it/s]
 79%|███████▉  | 158/200 [00:05<00:01, 26.98it/s]
 81%|████████  | 162/200 [00:06<00:01, 28.48it/s]
 82%|████████▎ | 165/200 [00:06<00:01, 26.54it/s]
 84%|████████▍ | 169/200 [00:06<00:01, 28.04it/s]
 86%|████████▌ | 172/200 [00:06<00:01, 26.86it/s]
 88%|████████▊ | 176/200 [00:06<00:00, 28.58it/s]
 90%|████████▉ | 179/200 [00:06<00:00, 28.18it/s]
 92%|█████████▏| 183/200 [00:06<00:00, 30.91it/s]
 94%|█████████▎| 187/200 [00:06<00:00, 29.02it/s]
 95%|█████████▌| 190/200 [00:07<00:00, 26.46it/s]
 96%|█████████▋| 193/200 [00:07<00:00, 24.15it/s]
 98%|█████████▊| 197/200 [00:07<00:00, 26.11it/s]
100%|██████████| 200/200 [00:07<00:00, 27.03it/s]
 Median Scale of 200 frame found to be: 1.1981195801425848
 Fit to reference shape: 

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5it [00:00, 42.43it/s]
10it [00:00, 43.17it/s]
15it [00:00, 43.92it/s]
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465it [00:05, 93.46it/s]
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494it [00:06, 81.97it/s]
503it [00:06, 77.28it/s]
511it [00:06, 77.76it/s]
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533it [00:06, 91.83it/s]
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554it [00:06, 87.13it/s]
564it [00:06, 89.80it/s]
574it [00:07, 86.25it/s]
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594it [00:07, 89.64it/s]
606it [00:07, 96.34it/s]
616it [00:07, 93.27it/s]
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636it [00:07, 86.02it/s]
647it [00:07, 91.49it/s]
657it [00:07, 93.66it/s]
668it [00:08, 93.47it/s]
679it [00:08, 96.31it/s]
691it [00:08, 102.87it/s]
703it [00:08, 105.29it/s]
716it [00:08, 109.03it/s]
727it [00:08, 101.97it/s]
738it [00:08, 102.12it/s]
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760it [00:08, 99.05it/s] 
771it [00:09, 98.34it/s]
781it [00:09, 98.21it/s]
791it [00:09, 92.18it/s]
801it [00:09, 89.68it/s]
811it [00:09, 91.40it/s]
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831it [00:09, 88.05it/s]
840it [00:09, 87.40it/s]
852it [00:09, 94.29it/s]
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894it [00:10, 98.09it/s]
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1080it [00:12, 93.34it/s] 
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1122it [00:12, 91.97it/s]
1132it [00:13, 91.36it/s]
1142it [00:13, 91.99it/s]
1152it [00:13, 92.38it/s]
1162it [00:13, 87.61it/s]
1173it [00:13, 90.13it/s]
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1195it [00:13, 91.74it/s]
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1216it [00:13, 82.52it/s]
1226it [00:14, 86.39it/s]
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1266it [00:14, 94.43it/s]
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1385it [00:15, 95.54it/s]
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1602it [00:18, 92.25it/s]
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1621it [00:18, 79.44it/s]
1630it [00:18, 80.53it/s]
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1652it [00:18, 90.58it/s]
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1672it [00:18, 91.76it/s]
1682it [00:19, 90.91it/s]
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1823it [00:20, 99.17it/s]
1833it [00:20, 93.82it/s]
1843it [00:20, 93.60it/s]
1853it [00:20, 93.31it/s]
1865it [00:20, 98.32it/s]
1875it [00:21, 93.49it/s]
1887it [00:21, 100.58it/s]
1898it [00:21, 88.16it/s] 
1908it [00:21, 90.90it/s]
1918it [00:21, 91.22it/s]
1928it [00:21, 85.88it/s]
1939it [00:21, 89.82it/s]
1951it [00:21, 95.51it/s]
1962it [00:22, 99.44it/s]
1974it [00:22, 104.24it/s]
1987it [00:22, 110.90it/s]
1999it [00:22, 100.58it/s]
2010it [00:22, 92.73it/s] 
2020it [00:22, 91.89it/s]
2030it [00:22, 93.87it/s]
2040it [00:22, 91.70it/s]
2050it [00:22, 86.37it/s]
2059it [00:23, 83.75it/s]
2070it [00:23, 88.96it/s]
2079it [00:23, 88.25it/s]
2091it [00:23, 95.84it/s]
2101it [00:23, 86.17it/s]
2110it [00:23, 85.14it/s]
2121it [00:23, 90.80it/s]
2132it [00:23, 94.27it/s]
2142it [00:23, 93.35it/s]
2152it [00:24, 91.78it/s]
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2307it [00:25, 85.11it/s]
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2326it [00:26, 84.48it/s]
2335it [00:26, 85.60it/s]
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2366it [00:26, 95.35it/s]
2377it [00:26, 98.81it/s]
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2397it [00:26, 93.95it/s]
2407it [00:26, 89.58it/s]
2417it [00:27, 86.79it/s]
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2437it [00:27, 90.56it/s]
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2511it [00:28, 98.46it/s]
2523it [00:28, 97.72it/s]
2533it [00:28, 94.72it/s]
2543it [00:28, 78.33it/s]
2555it [00:28, 86.54it/s]
2566it [00:28, 92.44it/s]
2577it [00:28, 93.94it/s]
2587it [00:28, 84.11it/s]
2598it [00:29, 89.99it/s]
2608it [00:29, 89.07it/s]
2618it [00:29, 90.86it/s]
2629it [00:29, 93.83it/s]
2641it [00:29, 99.79it/s]
2652it [00:29, 90.86it/s]
2662it [00:29, 88.78it/s]
2673it [00:29, 89.86it/s]
2683it [00:29, 89.87it/s]
2693it [00:30, 88.39it/s]
2702it [00:30, 86.95it/s]
2711it [00:30, 86.97it/s]
2721it [00:30, 89.26it/s]
2730it [00:30, 80.75it/s]
2742it [00:30, 89.66it/s]
2752it [00:30, 91.08it/s]
2762it [00:30, 91.56it/s]
2772it [00:31, 86.58it/s]
2782it [00:31, 89.57it/s]
2792it [00:31, 88.05it/s]
2801it [00:31, 87.44it/s]
2810it [00:31, 83.91it/s]
2823it [00:31, 92.59it/s]
2833it [00:31, 91.28it/s]
2845it [00:31, 97.68it/s]
2856it [00:31, 99.08it/s]
2867it [00:32, 98.19it/s]
2877it [00:32, 94.61it/s]
2887it [00:32, 88.36it/s]
2897it [00:32, 89.90it/s]
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2999it [00:33, 92.95it/s]
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3020it [00:33, 91.81it/s]
3030it [00:33, 88.33it/s]
3039it [00:34, 79.19it/s]
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3068it [00:34, 86.34it/s]
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3209it [00:35, 87.73it/s]
3218it [00:36, 81.53it/s]
3227it [00:36, 82.83it/s]
3238it [00:36, 90.04it/s]
3248it [00:36, 90.29it/s]
3261it [00:36, 96.65it/s]
3272it [00:36, 99.40it/s]
3283it [00:36, 98.28it/s]
3294it [00:36, 100.03it/s]
3305it [00:36, 97.70it/s] 
3315it [00:37, 95.65it/s]
3325it [00:37, 96.77it/s]
3336it [00:37, 99.41it/s]
3346it [00:37, 86.92it/s]
3355it [00:37, 78.30it/s]
3368it [00:37, 87.41it/s]
3378it [00:37, 84.71it/s]
3387it [00:37, 85.43it/s]
3399it [00:38, 90.38it/s]
3409it [00:38, 89.11it/s]
3421it [00:38, 95.31it/s]
3431it [00:38, 94.85it/s]
3443it [00:38, 98.99it/s]
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3463it [00:38, 94.78it/s]
3473it [00:38, 93.01it/s]
3483it [00:38, 86.11it/s]
3492it [00:39, 84.23it/s]
3501it [00:39, 85.75it/s]
3512it [00:39, 90.93it/s]
3522it [00:39, 86.99it/s]
3531it [00:39, 87.59it/s]
3541it [00:39, 89.50it/s]
3553it [00:39, 97.15it/s]
3564it [00:39, 98.32it/s]
3574it [00:39, 95.64it/s]
3584it [00:40, 95.64it/s]
3594it [00:40, 91.47it/s]
3606it [00:40, 96.62it/s]
3617it [00:40, 96.87it/s]
3627it [00:40, 89.53it/s]
3637it [00:40, 80.89it/s]
3647it [00:40, 85.14it/s]
3656it [00:40, 85.07it/s]
3666it [00:40, 88.66it/s]
3676it [00:41, 85.50it/s]
3685it [00:41, 83.27it/s]
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Track data saved to /working/8172fde5-b9bd-4f68-ae3a-ee916b8bc15f/processing/data/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/8172fde5-b9bd-4f68-ae3a-ee916b8bc15f/processing/data/laser_aligned.ptd.cbor