=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.9
Input file:  /working/44b6c8d7-8d1c-49e6-8b15-eea5f009a5b0/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 -=-=-=-=-=-=-
2025-12-22T08:27:25 - INFO:  Reading sonar track took 0.12749457359313965 sec!
2025-12-22T08:27:25 - INFO:  Reading sonar alignment track took {0.0007956027984619141} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  1%|          | 2/200 [00:00<00:10, 18.25it/s]
  2%|▏         | 4/200 [00:00<00:10, 18.51it/s]
  4%|▎         | 7/200 [00:00<00:09, 21.05it/s]
  5%|▌         | 10/200 [00:00<00:08, 21.31it/s]
  6%|▋         | 13/200 [00:00<00:09, 20.69it/s]
  8%|▊         | 16/200 [00:00<00:08, 21.82it/s]
 10%|▉         | 19/200 [00:01<00:11, 16.25it/s]
 10%|█         | 21/200 [00:01<00:10, 16.92it/s]
 12%|█▏        | 23/200 [00:01<00:12, 14.40it/s]
 12%|█▎        | 25/200 [00:01<00:12, 14.30it/s]
 14%|█▎        | 27/200 [00:01<00:13, 12.98it/s]
 14%|█▍        | 29/200 [00:01<00:14, 11.94it/s]
 16%|█▌        | 31/200 [00:02<00:14, 11.62it/s]
 16%|█▋        | 33/200 [00:02<00:14, 11.44it/s]
 18%|█▊        | 35/200 [00:02<00:15, 10.40it/s]
 18%|█▊        | 37/200 [00:02<00:15, 10.76it/s]
 20%|█▉        | 39/200 [00:02<00:14, 11.42it/s]
 20%|██        | 41/200 [00:02<00:12, 12.32it/s]
 22%|██▏       | 43/200 [00:03<00:13, 11.60it/s]
 22%|██▎       | 45/200 [00:03<00:13, 11.50it/s]
 24%|██▎       | 47/200 [00:03<00:14, 10.81it/s]
 24%|██▍       | 49/200 [00:03<00:16,  9.37it/s]
 25%|██▌       | 50/200 [00:03<00:16,  9.13it/s]
 26%|██▌       | 52/200 [00:04<00:14,  9.99it/s]
 27%|██▋       | 54/200 [00:04<00:13, 10.86it/s]
 28%|██▊       | 56/200 [00:04<00:13, 10.71it/s]
 29%|██▉       | 58/200 [00:04<00:12, 11.71it/s]
 30%|███       | 60/200 [00:04<00:13, 10.72it/s]
 31%|███       | 62/200 [00:04<00:12, 11.00it/s]
 32%|███▏      | 64/200 [00:05<00:13, 10.34it/s]
 33%|███▎      | 66/200 [00:05<00:15,  8.68it/s]
 34%|███▍      | 68/200 [00:05<00:13, 10.05it/s]
 35%|███▌      | 70/200 [00:05<00:12, 10.22it/s]
 36%|███▌      | 72/200 [00:06<00:12,  9.89it/s]
 37%|███▋      | 74/200 [00:06<00:11, 10.74it/s]
 38%|███▊      | 76/200 [00:06<00:10, 11.70it/s]
 39%|███▉      | 78/200 [00:06<00:11, 10.71it/s]
 40%|████      | 80/200 [00:06<00:10, 11.36it/s]
 41%|████      | 82/200 [00:06<00:10, 10.76it/s]
 42%|████▏     | 84/200 [00:07<00:10, 10.83it/s]
 43%|████▎     | 86/200 [00:07<00:10, 10.76it/s]
 44%|████▍     | 88/200 [00:07<00:10, 10.33it/s]
 45%|████▌     | 90/200 [00:07<00:10, 10.35it/s]
 46%|████▌     | 92/200 [00:07<00:10, 10.33it/s]
 47%|████▋     | 94/200 [00:08<00:10, 10.43it/s]
 48%|████▊     | 96/200 [00:08<00:10, 10.22it/s]
 49%|████▉     | 98/200 [00:08<00:09, 10.47it/s]
 50%|█████     | 100/200 [00:08<00:08, 11.19it/s]
 51%|█████     | 102/200 [00:08<00:08, 11.41it/s]
 52%|█████▏    | 104/200 [00:08<00:08, 11.69it/s]
 53%|█████▎    | 106/200 [00:09<00:07, 12.20it/s]
 54%|█████▍    | 108/200 [00:09<00:07, 12.16it/s]
 55%|█████▌    | 110/200 [00:09<00:08, 10.09it/s]
 56%|█████▌    | 112/200 [00:09<00:08, 10.70it/s]
 57%|█████▋    | 114/200 [00:09<00:08,  9.93it/s]
 58%|█████▊    | 116/200 [00:10<00:07, 10.57it/s]
 59%|█████▉    | 118/200 [00:10<00:07, 10.97it/s]
 60%|██████    | 120/200 [00:10<00:07, 10.20it/s]
 61%|██████    | 122/200 [00:10<00:08,  9.44it/s]
 62%|██████▏   | 124/200 [00:10<00:06, 11.11it/s]
 63%|██████▎   | 126/200 [00:10<00:05, 12.58it/s]
 64%|██████▍   | 128/200 [00:11<00:05, 12.11it/s]
 65%|██████▌   | 130/200 [00:11<00:07,  9.99it/s]
 66%|██████▌   | 132/200 [00:11<00:06,  9.96it/s]
 67%|██████▋   | 134/200 [00:11<00:06, 10.14it/s]
 68%|██████▊   | 136/200 [00:11<00:06,  9.98it/s]
 70%|██████▉   | 139/200 [00:12<00:05, 11.94it/s]
 70%|███████   | 141/200 [00:12<00:05, 11.56it/s]
 72%|███████▏  | 143/200 [00:12<00:05, 11.10it/s]
 72%|███████▎  | 145/200 [00:12<00:04, 11.23it/s]
 74%|███████▎  | 147/200 [00:12<00:05, 10.36it/s]
 74%|███████▍  | 149/200 [00:13<00:05,  9.97it/s]
 76%|███████▌  | 151/200 [00:13<00:04, 10.02it/s]
 76%|███████▋  | 153/200 [00:13<00:04, 10.17it/s]
 78%|███████▊  | 155/200 [00:13<00:04, 10.93it/s]
 78%|███████▊  | 157/200 [00:13<00:04, 10.75it/s]
 80%|███████▉  | 159/200 [00:14<00:03, 10.80it/s]
 80%|████████  | 161/200 [00:14<00:03, 11.76it/s]
 82%|████████▏ | 163/200 [00:14<00:03, 11.32it/s]
 82%|████████▎ | 165/200 [00:14<00:03, 11.35it/s]
 84%|████████▎ | 167/200 [00:14<00:02, 11.45it/s]
 84%|████████▍ | 169/200 [00:14<00:02, 12.28it/s]
 86%|████████▌ | 171/200 [00:15<00:02, 13.04it/s]
 86%|████████▋ | 173/200 [00:15<00:02, 12.51it/s]
 88%|████████▊ | 175/200 [00:15<00:02, 11.95it/s]
 88%|████████▊ | 177/200 [00:15<00:02, 11.23it/s]
 90%|████████▉ | 179/200 [00:15<00:01, 10.78it/s]
 90%|█████████ | 181/200 [00:16<00:01,  9.78it/s]
 92%|█████████▏| 183/200 [00:16<00:01, 10.11it/s]
 92%|█████████▎| 185/200 [00:16<00:01, 10.37it/s]
 94%|█████████▎| 187/200 [00:16<00:01, 10.79it/s]
 94%|█████████▍| 189/200 [00:16<00:00, 11.50it/s]
 96%|█████████▌| 191/200 [00:16<00:00, 10.38it/s]
 96%|█████████▋| 193/200 [00:17<00:00, 10.10it/s]
 98%|█████████▊| 195/200 [00:17<00:00,  9.75it/s]
 98%|█████████▊| 197/200 [00:17<00:00, 10.71it/s]
100%|█████████▉| 199/200 [00:17<00:00, 10.94it/s]
100%|██████████| 200/200 [00:17<00:00, 11.28it/s]
 Median Scale of 200 frame found to be: 1.0069619655655284
 Fit to reference shape: 

0it [00:00, ?it/s]
5it [00:00, 47.70it/s]
10it [00:00, 47.88it/s]
15it [00:00, 36.66it/s]
19it [00:00, 35.68it/s]
26it [00:00, 45.41it/s]
37it [00:00, 63.94it/s]
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56it [00:00, 78.26it/s]
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451it [00:05, 89.06it/s]
460it [00:05, 87.69it/s]
472it [00:05, 95.07it/s]
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514it [00:05, 91.25it/s]
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533it [00:06, 86.36it/s]
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552it [00:06, 89.20it/s]
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653it [00:07, 83.76it/s]
664it [00:07, 89.11it/s]
673it [00:07, 89.14it/s]
682it [00:07, 88.81it/s]
691it [00:08, 86.85it/s]
700it [00:08, 87.14it/s]
709it [00:08, 86.39it/s]
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731it [00:08, 96.36it/s]
741it [00:08, 95.04it/s]
751it [00:08, 93.81it/s]
761it [00:08, 90.77it/s]
771it [00:08, 91.77it/s]
781it [00:09, 87.89it/s]
791it [00:09, 90.56it/s]
801it [00:09, 89.30it/s]
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822it [00:09, 94.13it/s]
832it [00:09, 93.68it/s]
843it [00:09, 96.56it/s]
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875it [00:09, 99.97it/s]
886it [00:10, 99.97it/s]
897it [00:10, 102.70it/s]
908it [00:10, 99.01it/s] 
918it [00:10, 98.88it/s]
929it [00:10, 100.21it/s]
940it [00:10, 95.72it/s] 
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1007it [00:11, 86.54it/s]
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1089it [00:13, 35.59it/s]
1093it [00:13, 34.62it/s]
1097it [00:13, 33.89it/s]
1101it [00:13, 34.55it/s]
1105it [00:13, 33.83it/s]
1109it [00:13, 32.40it/s]
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1121it [00:14, 31.16it/s]
1125it [00:14, 31.46it/s]
1129it [00:14, 33.23it/s]
1133it [00:14, 32.25it/s]
1137it [00:14, 33.38it/s]
1141it [00:14, 31.92it/s]
1145it [00:14, 29.59it/s]
1149it [00:15, 31.36it/s]
1153it [00:15, 30.70it/s]
1157it [00:15, 31.26it/s]
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1165it [00:15, 31.92it/s]
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1173it [00:15, 31.52it/s]
1177it [00:15, 30.36it/s]
1181it [00:16, 30.01it/s]
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1189it [00:16, 31.59it/s]
1194it [00:16, 34.43it/s]
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1202it [00:16, 34.07it/s]
1206it [00:16, 31.40it/s]
1210it [00:16, 33.04it/s]
1214it [00:17, 33.14it/s]
1218it [00:17, 33.98it/s]
1222it [00:17, 34.75it/s]
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1230it [00:17, 31.74it/s]
1234it [00:17, 29.93it/s]
1238it [00:17, 31.71it/s]
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1254it [00:18, 30.16it/s]
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1262it [00:18, 33.19it/s]
1266it [00:18, 31.03it/s]
1270it [00:18, 31.67it/s]
1274it [00:18, 30.49it/s]
1283it [00:19, 44.73it/s]
1291it [00:19, 51.62it/s]
1297it [00:19, 53.01it/s]
1303it [00:19, 53.69it/s]
1312it [00:19, 62.34it/s]
1319it [00:19, 57.51it/s]
1325it [00:19, 46.40it/s]
1331it [00:19, 40.17it/s]
1336it [00:20, 37.24it/s]
1341it [00:20, 34.29it/s]
1345it [00:20, 33.05it/s]
1349it [00:20, 30.90it/s]
1353it [00:20, 30.42it/s]
1357it [00:20, 31.08it/s]
1361it [00:20, 32.16it/s]
1365it [00:21, 32.75it/s]
1369it [00:21, 32.94it/s]
1373it [00:21, 32.45it/s]
1377it [00:21, 34.31it/s]
1382it [00:21, 37.08it/s]
1386it [00:21, 36.47it/s]
1391it [00:21, 39.65it/s]
1396it [00:21, 40.01it/s]
1401it [00:22, 34.80it/s]
1405it [00:22, 34.99it/s]
1409it [00:22, 35.95it/s]
1413it [00:22, 33.73it/s]
1417it [00:22, 32.49it/s]
1422it [00:22, 34.85it/s]
1427it [00:22, 36.88it/s]
1431it [00:23, 31.60it/s]
1435it [00:23, 31.11it/s]
1439it [00:23, 29.85it/s]
1443it [00:23, 30.28it/s]
1447it [00:23, 31.75it/s]
1451it [00:23, 28.80it/s]
1455it [00:23, 30.91it/s]
1459it [00:23, 31.07it/s]
1463it [00:24, 31.92it/s]
1467it [00:24, 32.55it/s]
1471it [00:24, 32.30it/s]
1475it [00:24, 32.34it/s]
1479it [00:24, 33.23it/s]
1483it [00:24, 32.05it/s]
1488it [00:24, 34.71it/s]
1492it [00:24, 32.06it/s]
1496it [00:25, 32.04it/s]
1501it [00:25, 35.05it/s]
1505it [00:25, 33.41it/s]
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1518it [00:25, 34.06it/s]
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1590it [00:28, 30.67it/s]
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1598it [00:28, 30.65it/s]
1602it [00:28, 29.32it/s]
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1614it [00:28, 30.21it/s]
1618it [00:29, 32.24it/s]
1622it [00:29, 33.33it/s]
1626it [00:29, 32.42it/s]
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1634it [00:29, 30.22it/s]
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1655it [00:30, 30.73it/s]
1659it [00:30, 29.59it/s]
1663it [00:30, 31.56it/s]
1667it [00:30, 31.17it/s]
1671it [00:30, 30.84it/s]
1675it [00:30, 30.42it/s]
1679it [00:31, 29.22it/s]
1682it [00:31, 29.19it/s]
1685it [00:31, 28.47it/s]
1688it [00:31, 28.78it/s]
1692it [00:31, 31.69it/s]
1696it [00:31, 32.13it/s]
1701it [00:31, 34.55it/s]
1706it [00:31, 36.99it/s]
1710it [00:31, 37.10it/s]
1714it [00:32, 36.69it/s]
1718it [00:32, 34.51it/s]
1722it [00:32, 34.73it/s]
1726it [00:32, 34.90it/s]
1730it [00:32, 31.19it/s]
1734it [00:32, 32.74it/s]
1738it [00:32, 34.24it/s]
1742it [00:32, 35.64it/s]
1747it [00:32, 37.49it/s]
1751it [00:33, 34.13it/s]
1755it [00:33, 34.84it/s]
1759it [00:33, 35.53it/s]
1763it [00:33, 35.09it/s]
1767it [00:33, 34.19it/s]
1771it [00:33, 31.75it/s]
1775it [00:33, 30.50it/s]
1779it [00:33, 29.98it/s]
1783it [00:34, 32.30it/s]
1787it [00:34, 31.52it/s]
1791it [00:34, 33.59it/s]
1795it [00:34, 33.99it/s]
1799it [00:34, 32.24it/s]
1804it [00:34, 33.43it/s]
1809it [00:34, 33.33it/s]
1814it [00:34, 36.15it/s]
1819it [00:35, 37.81it/s]
1823it [00:35, 36.53it/s]
1827it [00:35, 37.22it/s]
1831it [00:35, 34.32it/s]
1835it [00:35, 34.62it/s]
1839it [00:35, 32.35it/s]
1843it [00:35, 34.14it/s]
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Track data saved to /working/44b6c8d7-8d1c-49e6-8b15-eea5f009a5b0/processing/data/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/44b6c8d7-8d1c-49e6-8b15-eea5f009a5b0/processing/data/laser_aligned.ptd.cbor