=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.9
Input file:  /working/5f7a4c82-dc99-40c4-8916-f9757bcfbff0/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 -=-=-=-=-=-=-
2025-12-22T08:28:03 - INFO:  Reading sonar track took 0.03273606300354004 sec!
2025-12-22T08:28:03 - INFO:  Reading sonar alignment track took {0.0046787261962890625} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  1%|          | 2/200 [00:00<00:15, 13.18it/s]
  2%|▎         | 5/200 [00:00<00:12, 15.30it/s]
  4%|▎         | 7/200 [00:00<00:13, 14.39it/s]
  4%|▍         | 9/200 [00:00<00:13, 14.15it/s]
  6%|▌         | 11/200 [00:00<00:12, 15.44it/s]
  7%|▋         | 14/200 [00:00<00:11, 16.73it/s]
  8%|▊         | 16/200 [00:01<00:11, 16.51it/s]
  9%|▉         | 18/200 [00:01<00:11, 16.12it/s]
 10%|█         | 20/200 [00:01<00:11, 15.45it/s]
 11%|█         | 22/200 [00:01<00:11, 15.86it/s]
 12%|█▏        | 24/200 [00:01<00:11, 15.14it/s]
 13%|█▎        | 26/200 [00:01<00:12, 13.99it/s]
 14%|█▍        | 28/200 [00:01<00:11, 15.28it/s]
 15%|█▌        | 30/200 [00:01<00:11, 14.81it/s]
 16%|█▌        | 32/200 [00:02<00:11, 14.06it/s]
 17%|█▋        | 34/200 [00:02<00:11, 14.77it/s]
 18%|█▊        | 36/200 [00:02<00:10, 16.01it/s]
 19%|█▉        | 38/200 [00:02<00:09, 16.78it/s]
 20%|██        | 40/200 [00:02<00:09, 17.00it/s]
 21%|██        | 42/200 [00:02<00:09, 16.60it/s]
 22%|██▏       | 44/200 [00:02<00:09, 16.97it/s]
 23%|██▎       | 46/200 [00:02<00:09, 16.39it/s]
 24%|██▍       | 48/200 [00:03<00:09, 16.37it/s]
 25%|██▌       | 50/200 [00:03<00:09, 15.52it/s]
 26%|██▌       | 52/200 [00:03<00:09, 15.45it/s]
 27%|██▋       | 54/200 [00:03<00:10, 13.77it/s]
 28%|██▊       | 56/200 [00:03<00:10, 14.04it/s]
 29%|██▉       | 58/200 [00:03<00:10, 13.18it/s]
 30%|███       | 60/200 [00:03<00:09, 14.53it/s]
 31%|███       | 62/200 [00:04<00:09, 14.47it/s]
 32%|███▏      | 64/200 [00:04<00:09, 15.00it/s]
 33%|███▎      | 66/200 [00:04<00:08, 15.13it/s]
 34%|███▍      | 68/200 [00:04<00:08, 16.14it/s]
 35%|███▌      | 70/200 [00:04<00:08, 14.68it/s]
 36%|███▌      | 72/200 [00:04<00:08, 15.15it/s]
 37%|███▋      | 74/200 [00:04<00:08, 15.62it/s]
 38%|███▊      | 77/200 [00:04<00:07, 17.05it/s]
 40%|███▉      | 79/200 [00:05<00:06, 17.48it/s]
 41%|████      | 82/200 [00:05<00:06, 17.61it/s]
 42%|████▏     | 84/200 [00:05<00:06, 18.01it/s]
 43%|████▎     | 86/200 [00:05<00:06, 17.98it/s]
 44%|████▍     | 89/200 [00:05<00:06, 18.25it/s]
 46%|████▌     | 91/200 [00:05<00:06, 15.59it/s]
 46%|████▋     | 93/200 [00:05<00:06, 15.75it/s]
 48%|████▊     | 95/200 [00:06<00:06, 16.47it/s]
 48%|████▊     | 97/200 [00:06<00:05, 17.23it/s]
 50%|████▉     | 99/200 [00:06<00:05, 17.25it/s]
 50%|█████     | 101/200 [00:06<00:05, 16.55it/s]
 52%|█████▏    | 104/200 [00:06<00:05, 17.22it/s]
 53%|█████▎    | 106/200 [00:06<00:05, 15.93it/s]
 54%|█████▍    | 108/200 [00:06<00:05, 16.07it/s]
 56%|█████▌    | 111/200 [00:06<00:05, 17.52it/s]
 57%|█████▋    | 114/200 [00:07<00:04, 18.25it/s]
 58%|█████▊    | 116/200 [00:07<00:04, 18.37it/s]
 59%|█████▉    | 118/200 [00:07<00:04, 18.12it/s]
 60%|██████    | 121/200 [00:07<00:04, 18.76it/s]
 62%|██████▏   | 123/200 [00:07<00:04, 18.18it/s]
 62%|██████▎   | 125/200 [00:07<00:04, 17.94it/s]
 64%|██████▎   | 127/200 [00:07<00:04, 17.47it/s]
 64%|██████▍   | 129/200 [00:07<00:04, 17.36it/s]
 66%|██████▌   | 131/200 [00:08<00:03, 17.47it/s]
 66%|██████▋   | 133/200 [00:08<00:04, 15.45it/s]
 68%|██████▊   | 135/200 [00:08<00:03, 16.31it/s]
 68%|██████▊   | 137/200 [00:08<00:03, 15.87it/s]
 70%|██████▉   | 139/200 [00:08<00:03, 15.38it/s]
 70%|███████   | 141/200 [00:08<00:03, 15.29it/s]
 72%|███████▏  | 143/200 [00:08<00:03, 15.44it/s]
 72%|███████▎  | 145/200 [00:09<00:03, 16.34it/s]
 74%|███████▎  | 147/200 [00:09<00:03, 16.55it/s]
 74%|███████▍  | 149/200 [00:09<00:02, 17.12it/s]
 76%|███████▌  | 151/200 [00:09<00:02, 16.80it/s]
 76%|███████▋  | 153/200 [00:09<00:02, 16.76it/s]
 78%|███████▊  | 155/200 [00:09<00:02, 17.29it/s]
 78%|███████▊  | 157/200 [00:09<00:02, 17.40it/s]
 80%|████████  | 160/200 [00:09<00:02, 19.13it/s]
 81%|████████  | 162/200 [00:09<00:02, 16.67it/s]
 82%|████████▏ | 164/200 [00:10<00:02, 17.29it/s]
 84%|████████▎ | 167/200 [00:10<00:01, 18.33it/s]
 84%|████████▍ | 169/200 [00:10<00:01, 18.02it/s]
 86%|████████▌ | 171/200 [00:10<00:01, 18.03it/s]
 86%|████████▋ | 173/200 [00:10<00:01, 17.47it/s]
 88%|████████▊ | 176/200 [00:10<00:01, 18.72it/s]
 89%|████████▉ | 178/200 [00:10<00:01, 19.01it/s]
 90%|█████████ | 181/200 [00:10<00:01, 18.75it/s]
 92%|█████████▏| 183/200 [00:11<00:00, 18.16it/s]
 92%|█████████▎| 185/200 [00:11<00:00, 18.34it/s]
 94%|█████████▎| 187/200 [00:11<00:00, 18.25it/s]
 94%|█████████▍| 189/200 [00:11<00:00, 18.70it/s]
 96%|█████████▌| 191/200 [00:11<00:00, 18.42it/s]
 97%|█████████▋| 194/200 [00:11<00:00, 20.00it/s]
 98%|█████████▊| 197/200 [00:11<00:00, 20.00it/s]
100%|█████████▉| 199/200 [00:11<00:00, 19.42it/s]
100%|██████████| 200/200 [00:11<00:00, 16.69it/s]
 Median Scale of 200 frame found to be: 0.8782767322537945
 Fit to reference shape: 

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4it [00:00, 32.32it/s]
10it [00:00, 39.60it/s]
15it [00:00, 43.59it/s]
21it [00:00, 47.50it/s]
27it [00:00, 49.70it/s]
33it [00:00, 38.17it/s]
38it [00:01, 33.04it/s]
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209it [00:06, 31.11it/s]
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217it [00:07, 30.41it/s]
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439it [00:14, 29.02it/s]
443it [00:14, 31.03it/s]
447it [00:14, 30.51it/s]
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455it [00:15, 30.58it/s]
460it [00:15, 34.16it/s]
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469it [00:15, 31.83it/s]
473it [00:15, 32.95it/s]
477it [00:15, 28.38it/s]
481it [00:16, 30.57it/s]
485it [00:16, 32.33it/s]
489it [00:16, 31.85it/s]
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497it [00:16, 32.29it/s]
501it [00:16, 28.93it/s]
505it [00:16, 30.25it/s]
509it [00:16, 32.20it/s]
513it [00:17, 29.78it/s]
517it [00:17, 30.12it/s]
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538it [00:17, 29.60it/s]
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571it [00:18, 36.89it/s]
575it [00:18, 36.02it/s]
579it [00:19, 33.17it/s]
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591it [00:19, 31.84it/s]
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607it [00:20, 32.26it/s]
611it [00:20, 30.97it/s]
615it [00:20, 28.72it/s]
618it [00:20, 26.29it/s]
622it [00:20, 26.48it/s]
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630it [00:20, 31.59it/s]
634it [00:20, 29.97it/s]
638it [00:21, 31.74it/s]
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646it [00:21, 31.90it/s]
650it [00:21, 32.70it/s]
654it [00:21, 29.32it/s]
658it [00:21, 29.10it/s]
661it [00:21, 25.78it/s]
665it [00:22, 28.87it/s]
669it [00:22, 31.20it/s]
673it [00:22, 29.15it/s]
677it [00:22, 25.58it/s]
680it [00:22, 26.34it/s]
684it [00:22, 26.65it/s]
687it [00:22, 26.21it/s]
690it [00:22, 26.71it/s]
694it [00:23, 27.66it/s]
698it [00:23, 30.45it/s]
702it [00:23, 31.36it/s]
706it [00:23, 28.66it/s]
711it [00:23, 32.07it/s]
715it [00:23, 31.01it/s]
719it [00:23, 29.90it/s]
723it [00:24, 27.68it/s]
727it [00:24, 28.59it/s]
730it [00:24, 25.65it/s]
734it [00:24, 28.56it/s]
738it [00:24, 29.78it/s]
742it [00:24, 29.75it/s]
746it [00:24, 25.61it/s]
750it [00:25, 27.91it/s]
754it [00:25, 30.63it/s]
759it [00:25, 33.82it/s]
763it [00:25, 32.38it/s]
767it [00:25, 32.49it/s]
771it [00:25, 32.25it/s]
775it [00:25, 32.03it/s]
779it [00:25, 30.56it/s]
783it [00:26, 29.14it/s]
786it [00:26, 26.89it/s]
790it [00:26, 29.00it/s]
793it [00:26, 27.43it/s]
796it [00:26, 26.89it/s]
799it [00:26, 25.98it/s]
803it [00:26, 28.13it/s]
806it [00:26, 26.20it/s]
810it [00:27, 28.55it/s]
814it [00:27, 28.96it/s]
817it [00:27, 27.82it/s]
821it [00:27, 28.42it/s]
824it [00:27, 28.48it/s]
827it [00:27, 26.67it/s]
830it [00:27, 25.53it/s]
834it [00:27, 27.47it/s]
838it [00:28, 28.89it/s]
842it [00:28, 30.77it/s]
846it [00:28, 27.98it/s]
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852it [00:28, 26.01it/s]
856it [00:28, 28.43it/s]
859it [00:28, 27.05it/s]
864it [00:28, 30.97it/s]
868it [00:29, 28.77it/s]
873it [00:29, 30.87it/s]
877it [00:29, 25.79it/s]
881it [00:29, 27.41it/s]
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889it [00:29, 27.64it/s]
892it [00:30, 26.20it/s]
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900it [00:30, 30.08it/s]
904it [00:30, 31.09it/s]
908it [00:30, 26.23it/s]
911it [00:30, 25.49it/s]
914it [00:30, 24.85it/s]
917it [00:30, 25.56it/s]
921it [00:31, 27.87it/s]
924it [00:31, 26.61it/s]
928it [00:31, 28.99it/s]
931it [00:31, 28.79it/s]
935it [00:31, 29.53it/s]
938it [00:31, 29.01it/s]
941it [00:31, 28.51it/s]
945it [00:31, 30.27it/s]
949it [00:32, 27.20it/s]
952it [00:32, 23.63it/s]
956it [00:32, 26.85it/s]
961it [00:32, 28.73it/s]
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970it [00:32, 31.74it/s]
974it [00:32, 29.54it/s]
978it [00:33, 31.64it/s]
982it [00:33, 33.35it/s]
986it [00:33, 31.90it/s]
990it [00:33, 31.18it/s]
994it [00:33, 33.14it/s]
998it [00:33, 31.36it/s]
1002it [00:33, 31.30it/s]
1007it [00:33, 33.93it/s]
1011it [00:34, 29.59it/s]
1015it [00:34, 30.17it/s]
1019it [00:34, 31.56it/s]
1023it [00:34, 27.45it/s]
1026it [00:34, 26.92it/s]
1030it [00:34, 27.47it/s]
1033it [00:34, 26.35it/s]
1037it [00:35, 27.21it/s]
1041it [00:35, 28.16it/s]
1045it [00:35, 28.51it/s]
1049it [00:35, 29.59it/s]
1053it [00:35, 28.97it/s]
1057it [00:35, 30.06it/s]
1061it [00:35, 30.41it/s]
1065it [00:35, 28.40it/s]
1069it [00:36, 29.79it/s]
1073it [00:36, 25.99it/s]
1076it [00:36, 26.19it/s]
1079it [00:36, 23.65it/s]
1082it [00:36, 25.02it/s]
1085it [00:36, 25.08it/s]
1088it [00:36, 25.71it/s]
1093it [00:37, 29.13it/s]
1097it [00:37, 30.78it/s]
1101it [00:37, 32.14it/s]
1105it [00:37, 29.13it/s]
1109it [00:37, 29.95it/s]
1113it [00:37, 26.08it/s]
1116it [00:37, 26.31it/s]
1119it [00:37, 27.13it/s]
1122it [00:38, 25.05it/s]
1126it [00:38, 25.09it/s]
1129it [00:38, 24.79it/s]
1133it [00:38, 25.34it/s]
1136it [00:38, 26.02it/s]
1140it [00:38, 29.34it/s]
1145it [00:38, 32.67it/s]
1149it [00:39, 30.67it/s]
1153it [00:39, 31.02it/s]
1157it [00:39, 29.91it/s]
1161it [00:39, 30.56it/s]
1165it [00:39, 26.59it/s]
1169it [00:39, 26.36it/s]
1172it [00:39, 23.00it/s]
1175it [00:40, 23.74it/s]
1179it [00:40, 26.74it/s]
1183it [00:40, 27.82it/s]
1186it [00:40, 24.25it/s]
1189it [00:40, 25.04it/s]
1192it [00:40, 24.56it/s]
1196it [00:40, 25.90it/s]
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38606it [11:40, 107.89it/s]
38619it [11:40, 111.49it/s]
38631it [11:40, 110.61it/s]
38643it [11:40, 110.74it/s]
38655it [11:40, 111.06it/s]
38667it [11:40, 111.42it/s]
38679it [11:40, 110.01it/s]
38691it [11:41, 105.73it/s]
38702it [11:41, 105.22it/s]
38708it [11:41, 55.20it/s] 
Track data saved to /working/5f7a4c82-dc99-40c4-8916-f9757bcfbff0/processing/data/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/5f7a4c82-dc99-40c4-8916-f9757bcfbff0/processing/data/laser_aligned.ptd.cbor