=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.9
Input file:  /working/d504eb93-ab12-4b4a-b2c3-6ed7564e9801/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 -=-=-=-=-=-=-
2025-12-22T08:23:57 - INFO:  Reading sonar track took 0.043717384338378906 sec!
2025-12-22T08:23:57 - INFO:  Reading sonar alignment track took {0.0007331371307373047} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  1%|          | 2/200 [00:00<00:12, 15.81it/s]
  2%|▎         | 5/200 [00:00<00:09, 19.92it/s]
  4%|▍         | 9/200 [00:00<00:07, 24.10it/s]
  6%|▋         | 13/200 [00:00<00:06, 26.85it/s]
  8%|▊         | 16/200 [00:00<00:06, 27.56it/s]
 10%|▉         | 19/200 [00:00<00:06, 28.26it/s]
 11%|█         | 22/200 [00:00<00:07, 24.10it/s]
 12%|█▎        | 25/200 [00:01<00:07, 24.20it/s]
 14%|█▍        | 28/200 [00:01<00:07, 23.21it/s]
 16%|█▌        | 32/200 [00:01<00:06, 24.18it/s]
 18%|█▊        | 35/200 [00:01<00:06, 24.68it/s]
 19%|█▉        | 38/200 [00:01<00:06, 25.46it/s]
 20%|██        | 41/200 [00:01<00:06, 26.18it/s]
 22%|██▏       | 44/200 [00:01<00:06, 25.06it/s]
 24%|██▎       | 47/200 [00:01<00:05, 25.54it/s]
 25%|██▌       | 50/200 [00:02<00:05, 25.44it/s]
 27%|██▋       | 54/200 [00:02<00:05, 26.73it/s]
 28%|██▊       | 57/200 [00:02<00:05, 25.64it/s]
 30%|███       | 61/200 [00:02<00:04, 27.85it/s]
 32%|███▎      | 65/200 [00:02<00:04, 29.02it/s]
 34%|███▍      | 69/200 [00:02<00:04, 27.15it/s]
 36%|███▌      | 72/200 [00:02<00:05, 25.05it/s]
 38%|███▊      | 75/200 [00:02<00:04, 25.16it/s]
 39%|███▉      | 78/200 [00:03<00:04, 25.20it/s]
 40%|████      | 81/200 [00:03<00:04, 24.43it/s]
 42%|████▏     | 84/200 [00:03<00:04, 23.84it/s]
 44%|████▎     | 87/200 [00:03<00:04, 24.93it/s]
 46%|████▌     | 91/200 [00:03<00:04, 26.69it/s]
 47%|████▋     | 94/200 [00:03<00:04, 23.78it/s]
 48%|████▊     | 97/200 [00:03<00:04, 24.73it/s]
 50%|█████     | 100/200 [00:03<00:04, 24.66it/s]
 52%|█████▏    | 103/200 [00:04<00:03, 24.48it/s]
 53%|█████▎    | 106/200 [00:04<00:03, 23.98it/s]
 55%|█████▍    | 109/200 [00:04<00:03, 23.44it/s]
 56%|█████▌    | 112/200 [00:04<00:03, 24.16it/s]
 57%|█████▊    | 115/200 [00:04<00:03, 22.04it/s]
 59%|█████▉    | 118/200 [00:04<00:03, 23.42it/s]
 60%|██████    | 121/200 [00:04<00:03, 24.63it/s]
 62%|██████▏   | 124/200 [00:04<00:02, 25.55it/s]
 64%|██████▎   | 127/200 [00:05<00:02, 24.88it/s]
 65%|██████▌   | 130/200 [00:05<00:02, 25.52it/s]
 66%|██████▋   | 133/200 [00:05<00:02, 26.23it/s]
 68%|██████▊   | 136/200 [00:05<00:02, 27.05it/s]
 70%|██████▉   | 139/200 [00:05<00:02, 25.25it/s]
 71%|███████   | 142/200 [00:05<00:02, 24.91it/s]
 72%|███████▎  | 145/200 [00:05<00:02, 25.10it/s]
 74%|███████▍  | 148/200 [00:05<00:02, 23.99it/s]
 76%|███████▌  | 152/200 [00:06<00:01, 25.94it/s]
 78%|███████▊  | 156/200 [00:06<00:01, 27.59it/s]
 80%|███████▉  | 159/200 [00:06<00:01, 25.26it/s]
 81%|████████  | 162/200 [00:06<00:01, 26.34it/s]
 82%|████████▎ | 165/200 [00:06<00:01, 25.93it/s]
 84%|████████▍ | 168/200 [00:06<00:01, 21.95it/s]
 86%|████████▌ | 171/200 [00:06<00:01, 21.57it/s]
 87%|████████▋ | 174/200 [00:07<00:01, 22.35it/s]
 88%|████████▊ | 177/200 [00:07<00:01, 22.86it/s]
 90%|█████████ | 181/200 [00:07<00:00, 25.19it/s]
 92%|█████████▏| 184/200 [00:07<00:00, 23.88it/s]
 94%|█████████▎| 187/200 [00:07<00:00, 23.15it/s]
 95%|█████████▌| 190/200 [00:07<00:00, 23.55it/s]
 96%|█████████▋| 193/200 [00:07<00:00, 24.97it/s]
 98%|█████████▊| 196/200 [00:07<00:00, 25.08it/s]
100%|█████████▉| 199/200 [00:07<00:00, 26.26it/s]
100%|██████████| 200/200 [00:08<00:00, 24.86it/s]
 Median Scale of 200 frame found to be: 1.269198052656199
 Fit to reference shape: 

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11it [00:00, 46.58it/s]
17it [00:00, 48.86it/s]
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431it [00:05, 82.31it/s]
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459it [00:05, 82.46it/s]
468it [00:06, 68.48it/s]
476it [00:06, 68.38it/s]
484it [00:06, 70.57it/s]
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520it [00:07, 60.46it/s]
530it [00:07, 67.34it/s]
537it [00:07, 63.83it/s]
546it [00:07, 68.22it/s]
554it [00:07, 70.81it/s]
565it [00:07, 80.03it/s]
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594it [00:07, 83.25it/s]
603it [00:08, 80.28it/s]
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684it [00:09, 79.79it/s]
693it [00:09, 75.16it/s]
701it [00:09, 75.86it/s]
709it [00:09, 74.40it/s]
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726it [00:09, 74.62it/s]
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753it [00:10, 77.01it/s]
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773it [00:10, 80.05it/s]
782it [00:10, 82.26it/s]
791it [00:10, 77.85it/s]
799it [00:10, 72.03it/s]
808it [00:10, 74.55it/s]
817it [00:10, 75.93it/s]
825it [00:10, 68.72it/s]
833it [00:11, 67.44it/s]
843it [00:11, 74.21it/s]
851it [00:11, 74.84it/s]
860it [00:11, 77.33it/s]
869it [00:11, 75.61it/s]
877it [00:11, 73.53it/s]
885it [00:11, 73.72it/s]
894it [00:11, 74.79it/s]
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925it [00:12, 84.14it/s]
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953it [00:12, 82.81it/s]
962it [00:12, 83.60it/s]
971it [00:12, 77.49it/s]
979it [00:12, 74.35it/s]
990it [00:13, 79.75it/s]
1000it [00:13, 83.93it/s]
1011it [00:13, 89.16it/s]
1021it [00:13, 90.93it/s]
1031it [00:13, 79.21it/s]
1040it [00:13, 79.82it/s]
1049it [00:13, 81.54it/s]
1060it [00:13, 86.77it/s]
1070it [00:13, 89.32it/s]
1080it [00:14, 90.46it/s]
1090it [00:14, 84.25it/s]
1099it [00:14, 81.21it/s]
1108it [00:14, 81.50it/s]
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1125it [00:14, 74.86it/s]
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1191it [00:15, 77.69it/s]
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1427it [00:18, 70.86it/s]
1435it [00:18, 67.68it/s]
1442it [00:18, 65.35it/s]
1451it [00:19, 69.21it/s]
1460it [00:19, 73.86it/s]
1469it [00:19, 75.74it/s]
1477it [00:19, 66.45it/s]
1485it [00:19, 69.53it/s]
1494it [00:19, 73.14it/s]
1502it [00:19, 72.61it/s]
1510it [00:19, 71.60it/s]
1520it [00:19, 78.09it/s]
1528it [00:20, 73.26it/s]
1536it [00:20, 67.60it/s]
1543it [00:20, 62.20it/s]
1550it [00:20, 62.45it/s]
1557it [00:20, 63.20it/s]
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1581it [00:20, 66.01it/s]
1592it [00:21, 76.87it/s]
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1627it [00:21, 73.46it/s]
1635it [00:21, 71.30it/s]
1643it [00:21, 69.95it/s]
1651it [00:21, 70.02it/s]
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1669it [00:22, 75.37it/s]
1677it [00:22, 74.38it/s]
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1729it [00:22, 80.48it/s]
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1766it [00:23, 74.25it/s]
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1793it [00:23, 72.58it/s]
1803it [00:23, 77.93it/s]
1815it [00:23, 86.07it/s]
1824it [00:24, 78.51it/s]
1833it [00:24, 69.81it/s]
1841it [00:24, 63.02it/s]
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1859it [00:24, 73.69it/s]
1867it [00:24, 74.45it/s]
1875it [00:24, 74.09it/s]
1883it [00:24, 74.64it/s]
1891it [00:25, 72.68it/s]
1899it [00:25, 71.21it/s]
1908it [00:25, 75.58it/s]
1916it [00:25, 75.64it/s]
1925it [00:25, 77.79it/s]
1934it [00:25, 80.74it/s]
1943it [00:25, 67.01it/s]
1951it [00:25, 69.91it/s]
1960it [00:26, 69.99it/s]
1971it [00:26, 77.98it/s]
1980it [00:26, 74.44it/s]
1990it [00:26, 80.37it/s]
1999it [00:26, 81.73it/s]
2008it [00:26, 79.07it/s]
2017it [00:26, 72.55it/s]
2025it [00:26, 72.81it/s]
2033it [00:26, 73.35it/s]
2042it [00:27, 75.21it/s]
2051it [00:27, 77.95it/s]
2059it [00:27, 68.06it/s]
2069it [00:27, 75.12it/s]
2077it [00:27, 74.24it/s]
2086it [00:27, 76.81it/s]
2094it [00:27, 76.12it/s]
2102it [00:27, 74.80it/s]
2111it [00:27, 78.42it/s]
2119it [00:28, 74.35it/s]
2127it [00:28, 73.88it/s]
2136it [00:28, 75.11it/s]
2144it [00:28, 64.37it/s]
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2169it [00:28, 74.40it/s]
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2185it [00:29, 66.16it/s]
2193it [00:29, 68.66it/s]
2204it [00:29, 77.92it/s]
2212it [00:29, 71.20it/s]
2220it [00:29, 73.04it/s]
2229it [00:29, 76.69it/s]
2238it [00:29, 77.15it/s]
2246it [00:29, 75.90it/s]
2255it [00:29, 78.09it/s]
2264it [00:30, 80.77it/s]
2273it [00:30, 82.68it/s]
2282it [00:30, 78.55it/s]
2291it [00:30, 80.57it/s]
2300it [00:30, 71.29it/s]
2308it [00:30, 71.12it/s]
2317it [00:30, 75.82it/s]
2326it [00:30, 79.03it/s]
2335it [00:31, 78.24it/s]
2343it [00:31, 76.58it/s]
2351it [00:31, 68.34it/s]
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2366it [00:31, 65.73it/s]
2373it [00:31, 63.08it/s]
2383it [00:31, 70.14it/s]
2391it [00:31, 72.45it/s]
2401it [00:31, 79.80it/s]
2410it [00:32, 82.04it/s]
2419it [00:32, 74.45it/s]
2427it [00:32, 75.88it/s]
2436it [00:32, 76.93it/s]
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2463it [00:32, 84.33it/s]
2472it [00:32, 82.81it/s]
2481it [00:32, 84.60it/s]
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2508it [00:33, 84.32it/s]
2518it [00:33, 86.33it/s]
2527it [00:33, 76.75it/s]
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2564it [00:33, 87.55it/s]
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2603it [00:34, 83.62it/s]
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2621it [00:34, 77.19it/s]
2629it [00:34, 76.07it/s]
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2645it [00:35, 69.57it/s]
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2735it [00:36, 77.25it/s]
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2778it [00:36, 81.29it/s]
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2796it [00:36, 79.97it/s]
2807it [00:37, 88.04it/s]
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2827it [00:37, 90.25it/s]
2837it [00:37, 92.58it/s]
2847it [00:37, 89.31it/s]
2857it [00:37, 85.00it/s]
2866it [00:37, 78.05it/s]
2876it [00:37, 82.26it/s]
2885it [00:38, 81.49it/s]
2895it [00:38, 80.38it/s]
2904it [00:38, 77.27it/s]
2912it [00:38, 77.50it/s]
2923it [00:38, 85.55it/s]
2932it [00:38, 83.47it/s]
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2951it [00:38, 86.15it/s]
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2970it [00:39, 87.91it/s]
2979it [00:39, 86.38it/s]
2988it [00:39, 86.53it/s]
2997it [00:39, 82.86it/s]
3006it [00:39, 77.16it/s]
3015it [00:39, 80.31it/s]
3024it [00:39, 80.68it/s]
3034it [00:39, 84.88it/s]
3043it [00:39, 82.84it/s]
3053it [00:40, 85.67it/s]
3062it [00:40, 79.17it/s]
3071it [00:40, 81.10it/s]
3080it [00:40, 81.39it/s]
3089it [00:40, 81.28it/s]
3099it [00:40, 82.73it/s]
3108it [00:40, 84.55it/s]
3117it [00:40, 78.83it/s]
3126it [00:40, 80.01it/s]
3135it [00:41, 80.44it/s]
3144it [00:41, 81.59it/s]
3153it [00:41, 80.98it/s]
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Track data saved to /working/d504eb93-ab12-4b4a-b2c3-6ed7564e9801/processing/data/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/d504eb93-ab12-4b4a-b2c3-6ed7564e9801/processing/data/laser_aligned.ptd.cbor