=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.9
Input file:  /working/7c220afc-a324-48ba-97cc-5712b6c30b3b/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 -=-=-=-=-=-=-
2025-12-22T08:08:00 - INFO:  Reading sonar track took 0.04910111427307129 sec!
2025-12-22T08:08:00 - INFO:  Reading sonar alignment track took {0.0005526542663574219} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  0%|          | 1/200 [00:00<00:20,  9.77it/s]
  2%|▏         | 3/200 [00:00<00:17, 11.46it/s]
  2%|▎         | 5/200 [00:00<00:14, 13.55it/s]
  4%|▍         | 9/200 [00:00<00:09, 20.30it/s]
  6%|▌         | 12/200 [00:00<00:08, 21.31it/s]
  8%|▊         | 15/200 [00:00<00:08, 22.99it/s]
  9%|▉         | 18/200 [00:00<00:07, 24.15it/s]
 10%|█         | 21/200 [00:01<00:07, 23.62it/s]
 12%|█▎        | 25/200 [00:01<00:06, 26.50it/s]
 14%|█▍        | 28/200 [00:01<00:06, 25.31it/s]
 16%|█▌        | 31/200 [00:01<00:06, 26.13it/s]
 17%|█▋        | 34/200 [00:01<00:06, 25.93it/s]
 18%|█▊        | 37/200 [00:01<00:06, 24.09it/s]
 20%|██        | 40/200 [00:01<00:06, 24.88it/s]
 22%|██▏       | 43/200 [00:01<00:06, 25.25it/s]
 23%|██▎       | 46/200 [00:01<00:05, 25.76it/s]
 24%|██▍       | 49/200 [00:02<00:06, 24.50it/s]
 26%|██▌       | 52/200 [00:02<00:05, 25.82it/s]
 28%|██▊       | 55/200 [00:02<00:06, 23.06it/s]
 30%|██▉       | 59/200 [00:02<00:05, 25.93it/s]
 31%|███       | 62/200 [00:02<00:05, 26.64it/s]
 32%|███▎      | 65/200 [00:02<00:05, 26.71it/s]
 34%|███▍      | 68/200 [00:02<00:04, 26.75it/s]
 36%|███▌      | 72/200 [00:02<00:04, 29.58it/s]
 38%|███▊      | 75/200 [00:03<00:04, 27.23it/s]
 39%|███▉      | 78/200 [00:03<00:04, 25.69it/s]
 41%|████      | 82/200 [00:03<00:04, 26.21it/s]
 42%|████▎     | 85/200 [00:03<00:04, 26.09it/s]
 44%|████▍     | 88/200 [00:03<00:04, 26.31it/s]
 46%|████▌     | 91/200 [00:03<00:04, 27.15it/s]
 47%|████▋     | 94/200 [00:03<00:03, 26.97it/s]
 48%|████▊     | 97/200 [00:03<00:04, 24.95it/s]
 50%|█████     | 100/200 [00:04<00:04, 22.97it/s]
 52%|█████▏    | 103/200 [00:04<00:04, 21.54it/s]
 53%|█████▎    | 106/200 [00:04<00:04, 21.72it/s]
 55%|█████▍    | 109/200 [00:04<00:04, 21.21it/s]
 56%|█████▋    | 113/200 [00:04<00:03, 22.73it/s]
 58%|█████▊    | 116/200 [00:04<00:03, 23.08it/s]
 60%|█████▉    | 119/200 [00:04<00:03, 24.28it/s]
 61%|██████    | 122/200 [00:05<00:03, 24.49it/s]
 62%|██████▎   | 125/200 [00:05<00:02, 25.27it/s]
 64%|██████▍   | 128/200 [00:05<00:02, 24.59it/s]
 66%|██████▌   | 131/200 [00:05<00:02, 24.56it/s]
 67%|██████▋   | 134/200 [00:05<00:02, 24.99it/s]
 68%|██████▊   | 137/200 [00:05<00:02, 26.18it/s]
 70%|███████   | 140/200 [00:05<00:02, 25.96it/s]
 72%|███████▏  | 143/200 [00:05<00:02, 25.29it/s]
 73%|███████▎  | 146/200 [00:05<00:02, 23.77it/s]
 75%|███████▌  | 150/200 [00:06<00:01, 26.39it/s]
 77%|███████▋  | 154/200 [00:06<00:01, 27.39it/s]
 78%|███████▊  | 157/200 [00:06<00:01, 26.80it/s]
 80%|████████  | 161/200 [00:06<00:01, 29.14it/s]
 82%|████████▎ | 165/200 [00:06<00:01, 28.38it/s]
 84%|████████▍ | 168/200 [00:06<00:01, 27.63it/s]
 86%|████████▌ | 171/200 [00:06<00:01, 25.48it/s]
 88%|████████▊ | 175/200 [00:07<00:00, 27.20it/s]
 89%|████████▉ | 178/200 [00:07<00:00, 26.75it/s]
 90%|█████████ | 181/200 [00:07<00:00, 26.57it/s]
 92%|█████████▏| 184/200 [00:07<00:00, 26.88it/s]
 94%|█████████▍| 188/200 [00:07<00:00, 27.89it/s]
 96%|█████████▌| 191/200 [00:07<00:00, 26.01it/s]
 98%|█████████▊| 195/200 [00:07<00:00, 27.32it/s]
 99%|█████████▉| 198/200 [00:07<00:00, 24.54it/s]
100%|██████████| 200/200 [00:08<00:00, 24.83it/s]
 Median Scale of 200 frame found to be: 1.1975882484389069
 Fit to reference shape: 

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384it [00:05, 88.07it/s]
393it [00:05, 81.05it/s]
405it [00:05, 86.32it/s]
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426it [00:05, 90.76it/s]
436it [00:05, 91.37it/s]
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458it [00:06, 90.31it/s]
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510it [00:06, 85.63it/s]
519it [00:06, 81.83it/s]
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552it [00:07, 92.26it/s]
562it [00:07, 91.88it/s]
573it [00:07, 95.18it/s]
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605it [00:07, 98.29it/s]
617it [00:07, 102.36it/s]
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652it [00:08, 104.46it/s]
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856it [00:10, 93.47it/s]
866it [00:10, 92.89it/s]
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897it [00:10, 89.14it/s]
908it [00:11, 94.54it/s]
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930it [00:11, 89.03it/s]
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1068it [00:12, 95.47it/s]
1078it [00:12, 89.86it/s]
1088it [00:12, 90.18it/s]
1099it [00:13, 93.76it/s]
1111it [00:13, 98.76it/s]
1121it [00:13, 90.12it/s]
1131it [00:13, 88.77it/s]
1144it [00:13, 99.20it/s]
1155it [00:13, 99.35it/s]
1166it [00:13, 98.26it/s]
1177it [00:13, 100.05it/s]
1188it [00:14, 96.19it/s] 
1198it [00:14, 95.70it/s]
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1629it [00:18, 98.45it/s] 
1639it [00:18, 94.05it/s]
1649it [00:19, 84.69it/s]
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1807it [00:20, 97.86it/s]
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1827it [00:20, 88.76it/s]
1837it [00:21, 91.23it/s]
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1857it [00:21, 88.33it/s]
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1875it [00:21, 82.77it/s]
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1894it [00:21, 80.26it/s]
1905it [00:21, 84.29it/s]
1914it [00:22, 84.23it/s]
1923it [00:22, 82.87it/s]
1932it [00:22, 83.36it/s]
1941it [00:22, 84.43it/s]
1950it [00:22, 84.50it/s]
1959it [00:22, 82.03it/s]
1968it [00:22, 80.07it/s]
1978it [00:22, 84.31it/s]
1987it [00:22, 85.19it/s]
1999it [00:23, 90.38it/s]
2009it [00:23, 89.11it/s]
2020it [00:23, 92.76it/s]
2030it [00:23, 86.16it/s]
2041it [00:23, 91.20it/s]
2051it [00:23, 93.55it/s]
2063it [00:23, 99.04it/s]
2073it [00:23, 91.47it/s]
2083it [00:23, 91.20it/s]
2093it [00:24, 92.21it/s]
2103it [00:24, 80.69it/s]
2112it [00:24, 78.93it/s]
2121it [00:24, 81.53it/s]
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2158it [00:24, 78.25it/s]
2167it [00:24, 79.76it/s]
2176it [00:25, 73.93it/s]
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2245it [00:26, 78.55it/s]
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2321it [00:26, 99.03it/s] 
2331it [00:26, 98.77it/s]
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2351it [00:27, 91.22it/s]
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2455it [00:28, 74.71it/s]
2464it [00:28, 76.65it/s]
2473it [00:28, 79.10it/s]
2481it [00:28, 77.63it/s]
2489it [00:28, 75.38it/s]
2499it [00:29, 80.48it/s]
2508it [00:29, 80.17it/s]
2519it [00:29, 83.94it/s]
2529it [00:29, 88.24it/s]
2538it [00:29, 87.33it/s]
2547it [00:29, 81.07it/s]
2556it [00:29, 74.51it/s]
2564it [00:29, 72.84it/s]
2572it [00:29, 72.73it/s]
2580it [00:30, 70.99it/s]
2589it [00:30, 75.87it/s]
2597it [00:30, 76.37it/s]
2605it [00:30, 77.19it/s]
2613it [00:30, 71.41it/s]
2621it [00:30, 70.30it/s]
2629it [00:30, 71.65it/s]
2638it [00:30, 75.11it/s]
2649it [00:30, 84.00it/s]
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2669it [00:31, 90.37it/s]
2680it [00:31, 91.84it/s]
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3038it [00:36, 66.30it/s]
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3060it [00:36, 67.34it/s]
3067it [00:36, 62.89it/s]
3078it [00:36, 73.16it/s]
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3096it [00:36, 78.84it/s]
3104it [00:36, 74.34it/s]
3112it [00:37, 72.18it/s]
3120it [00:37, 70.38it/s]
3129it [00:37, 71.67it/s]
3140it [00:37, 78.85it/s]
3148it [00:37, 72.34it/s]
3156it [00:37, 71.35it/s]
3165it [00:37, 75.82it/s]
3174it [00:37, 79.19it/s]
3183it [00:37, 79.99it/s]
3192it [00:38, 77.03it/s]
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3212it [00:38, 87.42it/s]
3221it [00:38, 87.14it/s]
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3240it [00:38, 87.78it/s]
3251it [00:38, 91.32it/s]
3261it [00:38, 86.17it/s]
3271it [00:38, 88.88it/s]
3280it [00:39, 88.42it/s]
3291it [00:39, 92.46it/s]
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3321it [00:39, 81.96it/s]
3330it [00:39, 76.07it/s]
3341it [00:39, 82.69it/s]
3350it [00:39, 83.64it/s]
3359it [00:40, 77.51it/s]
3367it [00:40, 74.78it/s]
3377it [00:40, 80.47it/s]
3387it [00:40, 82.66it/s]
3396it [00:40, 80.14it/s]
3405it [00:40, 81.80it/s]
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Track data saved to /working/7c220afc-a324-48ba-97cc-5712b6c30b3b/processing/data/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/7c220afc-a324-48ba-97cc-5712b6c30b3b/processing/data/laser_aligned.ptd.cbor