=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.9
Input file:  /working/1caccd6a-ca4d-46bd-84f1-2b5ea23bcb8e/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 -=-=-=-=-=-=-
2025-12-22T08:23:04 - INFO:  Reading sonar track took 0.037064552307128906 sec!
2025-12-22T08:23:04 - INFO:  Reading sonar alignment track took {0.005228519439697266} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  1%|          | 2/200 [00:00<00:14, 13.37it/s]
  2%|▏         | 4/200 [00:00<00:14, 13.16it/s]
  3%|▎         | 6/200 [00:00<00:13, 13.98it/s]
  4%|▍         | 8/200 [00:00<00:14, 13.66it/s]
  5%|▌         | 10/200 [00:00<00:12, 15.12it/s]
  6%|▌         | 12/200 [00:00<00:12, 14.68it/s]
  7%|▋         | 14/200 [00:00<00:12, 14.99it/s]
  8%|▊         | 16/200 [00:01<00:12, 14.43it/s]
  9%|▉         | 18/200 [00:01<00:13, 13.82it/s]
 10%|█         | 20/200 [00:01<00:12, 14.33it/s]
 11%|█         | 22/200 [00:01<00:12, 14.04it/s]
 12%|█▏        | 24/200 [00:01<00:12, 14.13it/s]
 13%|█▎        | 26/200 [00:01<00:12, 13.73it/s]
 14%|█▍        | 28/200 [00:01<00:12, 13.92it/s]
 15%|█▌        | 30/200 [00:02<00:11, 14.25it/s]
 16%|█▌        | 32/200 [00:02<00:11, 14.15it/s]
 17%|█▋        | 34/200 [00:02<00:11, 14.06it/s]
 18%|█▊        | 36/200 [00:02<00:11, 14.05it/s]
 19%|█▉        | 38/200 [00:02<00:11, 13.55it/s]
 20%|██        | 40/200 [00:02<00:11, 13.83it/s]
 21%|██        | 42/200 [00:02<00:11, 14.16it/s]
 22%|██▏       | 44/200 [00:03<00:11, 13.70it/s]
 23%|██▎       | 46/200 [00:03<00:10, 14.67it/s]
 24%|██▍       | 48/200 [00:03<00:10, 14.58it/s]
 25%|██▌       | 50/200 [00:03<00:09, 15.28it/s]
 26%|██▌       | 52/200 [00:03<00:09, 15.63it/s]
 27%|██▋       | 54/200 [00:03<00:09, 14.82it/s]
 28%|██▊       | 56/200 [00:03<00:10, 14.09it/s]
 30%|██▉       | 59/200 [00:04<00:08, 15.93it/s]
 30%|███       | 61/200 [00:04<00:08, 16.45it/s]
 32%|███▏      | 63/200 [00:04<00:08, 16.83it/s]
 32%|███▎      | 65/200 [00:04<00:08, 16.71it/s]
 34%|███▍      | 68/200 [00:04<00:07, 18.28it/s]
 35%|███▌      | 70/200 [00:04<00:07, 18.44it/s]
 36%|███▌      | 72/200 [00:04<00:07, 17.68it/s]
 37%|███▋      | 74/200 [00:04<00:07, 17.34it/s]
 38%|███▊      | 76/200 [00:05<00:07, 17.67it/s]
 39%|███▉      | 78/200 [00:05<00:06, 17.80it/s]
 40%|████      | 80/200 [00:05<00:06, 17.33it/s]
 41%|████      | 82/200 [00:05<00:07, 16.86it/s]
 42%|████▏     | 84/200 [00:05<00:07, 16.33it/s]
 43%|████▎     | 86/200 [00:05<00:07, 14.97it/s]
 44%|████▍     | 88/200 [00:05<00:08, 13.93it/s]
 45%|████▌     | 90/200 [00:05<00:07, 13.92it/s]
 46%|████▌     | 92/200 [00:06<00:07, 13.89it/s]
 47%|████▋     | 94/200 [00:06<00:07, 13.63it/s]
 48%|████▊     | 96/200 [00:06<00:07, 14.14it/s]
 49%|████▉     | 98/200 [00:06<00:07, 14.17it/s]
 50%|█████     | 100/200 [00:06<00:06, 14.83it/s]
 51%|█████     | 102/200 [00:06<00:06, 14.96it/s]
 52%|█████▏    | 104/200 [00:06<00:06, 14.64it/s]
 53%|█████▎    | 106/200 [00:07<00:06, 15.45it/s]
 54%|█████▍    | 108/200 [00:07<00:05, 15.95it/s]
 55%|█████▌    | 110/200 [00:07<00:05, 16.55it/s]
 56%|█████▌    | 112/200 [00:07<00:05, 16.82it/s]
 57%|█████▋    | 114/200 [00:07<00:05, 15.82it/s]
 58%|█████▊    | 116/200 [00:07<00:05, 16.39it/s]
 59%|█████▉    | 118/200 [00:07<00:04, 16.58it/s]
 60%|██████    | 120/200 [00:07<00:04, 16.60it/s]
 61%|██████    | 122/200 [00:08<00:04, 17.18it/s]
 62%|██████▏   | 124/200 [00:08<00:04, 17.06it/s]
 63%|██████▎   | 126/200 [00:08<00:04, 16.57it/s]
 64%|██████▍   | 128/200 [00:08<00:04, 16.39it/s]
 65%|██████▌   | 130/200 [00:08<00:04, 16.81it/s]
 66%|██████▌   | 132/200 [00:08<00:04, 16.09it/s]
 67%|██████▋   | 134/200 [00:08<00:04, 15.25it/s]
 68%|██████▊   | 136/200 [00:08<00:04, 14.08it/s]
 69%|██████▉   | 138/200 [00:09<00:04, 13.46it/s]
 70%|███████   | 140/200 [00:09<00:04, 12.97it/s]
 71%|███████   | 142/200 [00:09<00:04, 14.01it/s]
 72%|███████▏  | 144/200 [00:09<00:03, 14.94it/s]
 73%|███████▎  | 146/200 [00:09<00:03, 14.99it/s]
 74%|███████▍  | 148/200 [00:09<00:03, 14.75it/s]
 75%|███████▌  | 150/200 [00:09<00:03, 14.76it/s]
 76%|███████▌  | 152/200 [00:10<00:03, 15.07it/s]
 77%|███████▋  | 154/200 [00:10<00:02, 15.41it/s]
 78%|███████▊  | 156/200 [00:10<00:02, 15.71it/s]
 79%|███████▉  | 158/200 [00:10<00:03, 13.61it/s]
 80%|████████  | 160/200 [00:10<00:02, 14.11it/s]
 81%|████████  | 162/200 [00:10<00:02, 14.55it/s]
 82%|████████▏ | 164/200 [00:10<00:02, 14.80it/s]
 83%|████████▎ | 166/200 [00:10<00:02, 15.15it/s]
 84%|████████▍ | 168/200 [00:11<00:02, 15.38it/s]
 85%|████████▌ | 170/200 [00:11<00:02, 14.83it/s]
 86%|████████▌ | 172/200 [00:11<00:01, 15.65it/s]
 87%|████████▋ | 174/200 [00:11<00:01, 16.62it/s]
 88%|████████▊ | 176/200 [00:11<00:01, 16.11it/s]
 89%|████████▉ | 178/200 [00:11<00:01, 15.50it/s]
 90%|█████████ | 180/200 [00:11<00:01, 15.99it/s]
 91%|█████████ | 182/200 [00:12<00:01, 15.27it/s]
 92%|█████████▏| 184/200 [00:12<00:01, 15.16it/s]
 93%|█████████▎| 186/200 [00:12<00:00, 15.53it/s]
 94%|█████████▍| 189/200 [00:12<00:00, 16.62it/s]
 96%|█████████▌| 191/200 [00:12<00:00, 14.68it/s]
 96%|█████████▋| 193/200 [00:12<00:00, 14.83it/s]
 98%|█████████▊| 195/200 [00:12<00:00, 15.53it/s]
 98%|█████████▊| 197/200 [00:12<00:00, 14.98it/s]
100%|█████████▉| 199/200 [00:13<00:00, 15.27it/s]
100%|██████████| 200/200 [00:13<00:00, 15.21it/s]
 Median Scale of 200 frame found to be: 1.9272242404503181
 Fit to reference shape: 

0it [00:00, ?it/s]
1it [00:00,  9.33it/s]
4it [00:00, 17.14it/s]
7it [00:00, 21.24it/s]
12it [00:00, 30.79it/s]
17it [00:00, 36.18it/s]
22it [00:00, 39.43it/s]
27it [00:00, 41.91it/s]
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136it [00:03, 42.88it/s]
141it [00:04, 43.26it/s]
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235it [00:06, 36.35it/s]
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361it [00:10, 33.08it/s]
367it [00:10, 38.59it/s]
371it [00:10, 38.29it/s]
376it [00:10, 41.28it/s]
381it [00:10, 37.45it/s]
387it [00:10, 41.87it/s]
393it [00:10, 45.93it/s]
398it [00:11, 42.34it/s]
403it [00:11, 39.92it/s]
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413it [00:11, 43.15it/s]
418it [00:11, 39.54it/s]
423it [00:11, 37.54it/s]
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519it [00:13, 45.65it/s]
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529it [00:14, 44.71it/s]
534it [00:14, 45.60it/s]
540it [00:14, 46.16it/s]
545it [00:14, 43.37it/s]
552it [00:14, 46.80it/s]
557it [00:14, 40.00it/s]
563it [00:14, 43.90it/s]
568it [00:14, 42.43it/s]
574it [00:15, 44.39it/s]
580it [00:15, 47.99it/s]
585it [00:15, 45.13it/s]
590it [00:15, 43.72it/s]
595it [00:15, 43.78it/s]
601it [00:15, 46.90it/s]
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611it [00:15, 43.96it/s]
616it [00:15, 44.36it/s]
622it [00:16, 45.86it/s]
627it [00:16, 44.70it/s]
632it [00:16, 41.22it/s]
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644it [00:16, 49.88it/s]
650it [00:16, 48.78it/s]
655it [00:16, 48.45it/s]
662it [00:16, 51.16it/s]
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680it [00:17, 45.27it/s]
686it [00:17, 48.86it/s]
692it [00:17, 50.63it/s]
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703it [00:17, 43.43it/s]
709it [00:17, 44.94it/s]
714it [00:18, 44.43it/s]
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730it [00:18, 44.73it/s]
737it [00:18, 50.00it/s]
743it [00:18, 47.29it/s]
748it [00:18, 46.02it/s]
755it [00:18, 51.91it/s]
761it [00:19, 47.06it/s]
766it [00:19, 43.21it/s]
771it [00:19, 39.65it/s]
777it [00:19, 42.87it/s]
782it [00:19, 39.73it/s]
787it [00:19, 41.29it/s]
792it [00:19, 39.73it/s]
797it [00:19, 41.51it/s]
805it [00:20, 48.58it/s]
811it [00:20, 49.91it/s]
817it [00:20, 44.58it/s]
822it [00:20, 44.77it/s]
828it [00:20, 48.33it/s]
833it [00:20, 42.57it/s]
838it [00:20, 40.39it/s]
844it [00:21, 42.63it/s]
850it [00:21, 45.58it/s]
855it [00:21, 44.24it/s]
860it [00:21, 41.09it/s]
866it [00:21, 45.36it/s]
871it [00:21, 45.95it/s]
876it [00:21, 45.74it/s]
881it [00:21, 44.33it/s]
887it [00:21, 48.42it/s]
893it [00:22, 46.25it/s]
899it [00:22, 47.10it/s]
905it [00:22, 48.26it/s]
910it [00:22, 42.33it/s]
915it [00:22, 36.27it/s]
921it [00:22, 38.29it/s]
926it [00:22, 39.26it/s]
931it [00:23, 39.28it/s]
937it [00:23, 42.44it/s]
944it [00:23, 47.12it/s]
950it [00:23, 46.19it/s]
955it [00:23, 41.80it/s]
960it [00:23, 43.03it/s]
965it [00:23, 42.87it/s]
971it [00:23, 47.17it/s]
976it [00:24, 41.54it/s]
981it [00:24, 43.38it/s]
986it [00:24, 43.51it/s]
992it [00:24, 47.09it/s]
997it [00:24, 45.24it/s]
1003it [00:24, 44.88it/s]
1008it [00:24, 37.62it/s]
1014it [00:24, 42.32it/s]
1020it [00:25, 44.72it/s]
1025it [00:25, 33.37it/s]
1030it [00:25, 36.48it/s]
1036it [00:25, 41.54it/s]
1042it [00:25, 42.14it/s]
1047it [00:25, 37.27it/s]
1052it [00:25, 36.59it/s]
1056it [00:26, 37.27it/s]
1060it [00:26, 35.85it/s]
1064it [00:26, 32.91it/s]
1069it [00:26, 34.45it/s]
1073it [00:26, 30.63it/s]
1077it [00:26, 30.40it/s]
1081it [00:26, 27.83it/s]
1084it [00:27, 28.23it/s]
1089it [00:27, 32.39it/s]
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1121it [00:27, 39.11it/s]
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1191it [00:29, 36.00it/s]
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1199it [00:29, 35.31it/s]
1203it [00:30, 32.48it/s]
1208it [00:30, 35.82it/s]
1212it [00:30, 33.32it/s]
1217it [00:30, 36.45it/s]
1223it [00:30, 39.60it/s]
1228it [00:30, 42.06it/s]
1233it [00:30, 42.23it/s]
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1268it [00:31, 49.25it/s]
1274it [00:31, 49.69it/s]
1280it [00:31, 41.27it/s]
1285it [00:31, 42.39it/s]
1290it [00:32, 39.87it/s]
1295it [00:32, 42.21it/s]
1300it [00:32, 41.70it/s]
1305it [00:32, 38.96it/s]
1311it [00:32, 42.44it/s]
1316it [00:32, 43.70it/s]
1321it [00:32, 44.90it/s]
1326it [00:32, 45.78it/s]
1333it [00:32, 50.81it/s]
1339it [00:33, 51.97it/s]
1345it [00:33, 54.09it/s]
1351it [00:33, 52.59it/s]
1357it [00:33, 46.82it/s]
1363it [00:33, 49.82it/s]
1369it [00:33, 48.42it/s]
1374it [00:33, 41.60it/s]
1379it [00:33, 42.72it/s]
1385it [00:34, 45.89it/s]
1390it [00:34, 44.95it/s]
1395it [00:34, 44.75it/s]
1400it [00:34, 42.35it/s]
1406it [00:34, 44.31it/s]
1411it [00:34, 43.33it/s]
1416it [00:34, 41.31it/s]
1421it [00:34, 37.32it/s]
1426it [00:35, 39.79it/s]
1432it [00:35, 43.57it/s]
1437it [00:35, 45.06it/s]
1442it [00:35, 40.00it/s]
1447it [00:35, 40.64it/s]
1452it [00:35, 38.70it/s]
1457it [00:35, 40.67it/s]
1462it [00:35, 41.70it/s]
1467it [00:36, 41.02it/s]
1472it [00:36, 42.57it/s]
1478it [00:36, 46.14it/s]
1483it [00:36, 42.12it/s]
1488it [00:36, 39.99it/s]
1494it [00:36, 43.44it/s]
1500it [00:36, 45.74it/s]
1505it [00:36, 45.47it/s]
1510it [00:37, 45.48it/s]
1515it [00:37, 42.58it/s]
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Track data saved to /working/1caccd6a-ca4d-46bd-84f1-2b5ea23bcb8e/processing/data/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/1caccd6a-ca4d-46bd-84f1-2b5ea23bcb8e/processing/data/laser_aligned.ptd.cbor