=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.9
Input file:  /working/077df8b7-48b6-4521-9cd3-ba8c570113ba/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 -=-=-=-=-=-=-
2025-12-22T08:24:14 - INFO:  Reading sonar track took 0.10988593101501465 sec!
2025-12-22T08:24:14 - INFO:  Reading sonar alignment track took {0.0036966800689697266} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  2%|▏         | 3/200 [00:00<00:10, 19.33it/s]
  2%|▎         | 5/200 [00:00<00:10, 18.96it/s]
  4%|▍         | 8/200 [00:00<00:08, 22.87it/s]
  6%|▌         | 11/200 [00:00<00:08, 21.00it/s]
  7%|▋         | 14/200 [00:00<00:08, 21.79it/s]
  8%|▊         | 17/200 [00:00<00:08, 21.29it/s]
 10%|█         | 20/200 [00:00<00:07, 23.16it/s]
 12%|█▏        | 23/200 [00:01<00:07, 23.46it/s]
 13%|█▎        | 26/200 [00:01<00:07, 21.88it/s]
 14%|█▍        | 29/200 [00:01<00:07, 22.93it/s]
 16%|█▌        | 32/200 [00:01<00:07, 23.71it/s]
 18%|█▊        | 35/200 [00:01<00:07, 22.39it/s]
 19%|█▉        | 38/200 [00:01<00:06, 24.03it/s]
 20%|██        | 41/200 [00:01<00:06, 24.31it/s]
 22%|██▏       | 44/200 [00:01<00:06, 25.24it/s]
 24%|██▎       | 47/200 [00:02<00:05, 25.78it/s]
 25%|██▌       | 50/200 [00:02<00:05, 26.75it/s]
 27%|██▋       | 54/200 [00:02<00:05, 28.49it/s]
 28%|██▊       | 57/200 [00:02<00:05, 28.54it/s]
 30%|███       | 61/200 [00:02<00:04, 31.03it/s]
 32%|███▎      | 65/200 [00:02<00:04, 30.77it/s]
 34%|███▍      | 69/200 [00:02<00:04, 31.34it/s]
 36%|███▋      | 73/200 [00:02<00:04, 28.86it/s]
 38%|███▊      | 76/200 [00:02<00:04, 27.91it/s]
 40%|███▉      | 79/200 [00:03<00:04, 27.70it/s]
 41%|████      | 82/200 [00:03<00:04, 28.07it/s]
 43%|████▎     | 86/200 [00:03<00:04, 28.29it/s]
 44%|████▍     | 89/200 [00:03<00:03, 28.03it/s]
 46%|████▌     | 92/200 [00:03<00:03, 27.29it/s]
 48%|████▊     | 95/200 [00:03<00:03, 27.82it/s]
 50%|████▉     | 99/200 [00:03<00:03, 28.96it/s]
 52%|█████▏    | 103/200 [00:03<00:03, 28.02it/s]
 54%|█████▎    | 107/200 [00:04<00:03, 29.46it/s]
 55%|█████▌    | 110/200 [00:04<00:03, 27.42it/s]
 56%|█████▋    | 113/200 [00:04<00:03, 27.31it/s]
 58%|█████▊    | 116/200 [00:04<00:03, 25.59it/s]
 60%|█████▉    | 119/200 [00:04<00:03, 25.82it/s]
 62%|██████▏   | 123/200 [00:04<00:02, 28.83it/s]
 63%|██████▎   | 126/200 [00:04<00:02, 26.50it/s]
 65%|██████▌   | 130/200 [00:04<00:02, 28.34it/s]
 66%|██████▋   | 133/200 [00:05<00:02, 28.00it/s]
 68%|██████▊   | 137/200 [00:05<00:02, 28.99it/s]
 70%|███████   | 140/200 [00:05<00:02, 27.74it/s]
 72%|███████▏  | 144/200 [00:05<00:01, 29.15it/s]
 74%|███████▍  | 148/200 [00:05<00:01, 29.27it/s]
 76%|███████▌  | 151/200 [00:05<00:01, 26.99it/s]
 78%|███████▊  | 155/200 [00:05<00:01, 28.52it/s]
 79%|███████▉  | 158/200 [00:05<00:01, 28.88it/s]
 80%|████████  | 161/200 [00:06<00:01, 27.42it/s]
 82%|████████▏ | 164/200 [00:06<00:01, 26.52it/s]
 84%|████████▍ | 168/200 [00:06<00:01, 26.95it/s]
 86%|████████▌ | 171/200 [00:06<00:01, 26.00it/s]
 88%|████████▊ | 175/200 [00:06<00:00, 26.77it/s]
 89%|████████▉ | 178/200 [00:06<00:00, 25.89it/s]
 90%|█████████ | 181/200 [00:06<00:00, 26.31it/s]
 92%|█████████▎| 185/200 [00:06<00:00, 27.57it/s]
 94%|█████████▍| 188/200 [00:07<00:00, 25.97it/s]
 96%|█████████▌| 192/200 [00:07<00:00, 26.67it/s]
 98%|█████████▊| 195/200 [00:07<00:00, 27.00it/s]
100%|█████████▉| 199/200 [00:07<00:00, 28.02it/s]
100%|██████████| 200/200 [00:07<00:00, 26.70it/s]
 Median Scale of 200 frame found to be: 1.385204130081399
 Fit to reference shape: 

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4it [00:00, 34.92it/s]
9it [00:00, 38.35it/s]
14it [00:00, 42.91it/s]
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26it [00:00, 48.15it/s]
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386it [00:06, 72.21it/s]
394it [00:06, 72.17it/s]
403it [00:06, 75.12it/s]
411it [00:06, 71.11it/s]
419it [00:06, 68.23it/s]
429it [00:06, 69.89it/s]
438it [00:06, 71.80it/s]
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563it [00:08, 71.40it/s]
571it [00:08, 71.05it/s]
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637it [00:09, 59.84it/s]
646it [00:09, 66.22it/s]
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667it [00:10, 66.44it/s]
675it [00:10, 67.71it/s]
682it [00:10, 67.97it/s]
689it [00:10, 66.23it/s]
697it [00:10, 69.33it/s]
705it [00:10, 71.48it/s]
713it [00:10, 67.99it/s]
720it [00:10, 64.88it/s]
730it [00:11, 72.21it/s]
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754it [00:11, 70.92it/s]
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779it [00:11, 72.60it/s]
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796it [00:11, 76.04it/s]
804it [00:12, 76.32it/s]
813it [00:12, 78.62it/s]
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830it [00:12, 79.50it/s]
842it [00:12, 88.71it/s]
852it [00:12, 89.14it/s]
861it [00:12, 79.22it/s]
870it [00:12, 81.44it/s]
879it [00:13, 79.58it/s]
888it [00:13, 80.07it/s]
897it [00:13, 82.07it/s]
906it [00:13, 75.48it/s]
916it [00:13, 78.86it/s]
925it [00:13, 75.03it/s]
933it [00:13, 70.12it/s]
941it [00:13, 65.97it/s]
950it [00:13, 71.19it/s]
958it [00:14, 73.42it/s]
966it [00:14, 73.07it/s]
975it [00:14, 77.36it/s]
986it [00:14, 85.88it/s]
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1004it [00:14, 83.98it/s]
1013it [00:14, 74.87it/s]
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1343it [00:19, 66.17it/s]
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1495it [00:21, 60.21it/s]
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1514it [00:21, 67.98it/s]
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1540it [00:22, 75.29it/s]
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1673it [00:24, 70.70it/s]
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1831it [00:26, 66.42it/s]
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1876it [00:26, 73.44it/s]
1884it [00:26, 71.58it/s]
1892it [00:27, 66.61it/s]
1901it [00:27, 71.55it/s]
1910it [00:27, 75.24it/s]
1920it [00:27, 80.18it/s]
1929it [00:27, 78.40it/s]
1937it [00:27, 76.32it/s]
1947it [00:27, 81.13it/s]
1956it [00:27, 72.34it/s]
1964it [00:27, 68.08it/s]
1974it [00:28, 75.94it/s]
1982it [00:28, 74.13it/s]
1990it [00:28, 68.54it/s]
2001it [00:28, 77.00it/s]
2009it [00:28, 77.30it/s]
2017it [00:28, 75.81it/s]
2025it [00:28, 75.08it/s]
2034it [00:28, 78.93it/s]
2042it [00:29, 71.31it/s]
2050it [00:29, 71.58it/s]
2059it [00:29, 75.45it/s]
2068it [00:29, 79.05it/s]
2077it [00:29, 70.96it/s]
2085it [00:29, 65.10it/s]
2093it [00:29, 67.17it/s]
2103it [00:29, 73.62it/s]
2111it [00:29, 75.29it/s]
2119it [00:30, 70.25it/s]
2127it [00:30, 72.46it/s]
2138it [00:30, 78.74it/s]
2146it [00:30, 76.37it/s]
2154it [00:30, 71.49it/s]
2162it [00:30, 71.97it/s]
2171it [00:30, 75.99it/s]
2179it [00:30, 64.34it/s]
2187it [00:31, 67.96it/s]
2195it [00:31, 69.55it/s]
2203it [00:31, 68.26it/s]
2210it [00:31, 66.85it/s]
2219it [00:31, 70.83it/s]
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2234it [00:31, 66.13it/s]
2243it [00:31, 67.76it/s]
2251it [00:31, 69.05it/s]
2259it [00:32, 69.80it/s]
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2277it [00:32, 70.18it/s]
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2293it [00:32, 72.38it/s]
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2318it [00:32, 68.86it/s]
2326it [00:33, 67.43it/s]
2334it [00:33, 70.45it/s]
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2603it [00:36, 71.49it/s]
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2629it [00:37, 74.78it/s]
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2645it [00:37, 72.86it/s]
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2673it [00:37, 78.51it/s]
2681it [00:37, 67.22it/s]
2689it [00:38, 64.15it/s]
2696it [00:38, 64.39it/s]
2703it [00:38, 65.24it/s]
2713it [00:38, 73.03it/s]
2721it [00:38, 71.40it/s]
2729it [00:38, 64.99it/s]
2738it [00:38, 70.65it/s]
2746it [00:38, 70.99it/s]
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2762it [00:39, 69.23it/s]
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2866it [00:40, 74.03it/s]
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2902it [00:41, 76.29it/s]
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2918it [00:41, 74.31it/s]
2926it [00:41, 72.19it/s]
2934it [00:41, 64.97it/s]
2941it [00:41, 62.62it/s]
2950it [00:41, 69.14it/s]
2958it [00:41, 71.76it/s]
2966it [00:42, 66.37it/s]
2975it [00:42, 71.18it/s]
2984it [00:42, 73.73it/s]
2992it [00:42, 71.64it/s]
3001it [00:42, 76.00it/s]
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Track data saved to /working/077df8b7-48b6-4521-9cd3-ba8c570113ba/processing/data/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/077df8b7-48b6-4521-9cd3-ba8c570113ba/processing/data/laser_aligned.ptd.cbor