=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.9
Input file:  /working/a5536710-fdfb-4e3d-9932-1ea501286855/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 -=-=-=-=-=-=-
2025-12-22T08:10:05 - INFO:  Reading sonar track took 0.24819207191467285 sec!
2025-12-22T08:10:05 - INFO:  Reading sonar alignment track took {0.0036139488220214844} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  1%|          | 2/200 [00:00<00:13, 14.59it/s]
  2%|▎         | 5/200 [00:00<00:08, 22.23it/s]
  4%|▍         | 9/200 [00:00<00:07, 25.82it/s]
  6%|▌         | 12/200 [00:00<00:07, 24.70it/s]
  8%|▊         | 16/200 [00:00<00:06, 27.56it/s]
 10%|▉         | 19/200 [00:00<00:06, 26.50it/s]
 11%|█         | 22/200 [00:00<00:06, 26.46it/s]
 12%|█▎        | 25/200 [00:00<00:06, 26.78it/s]
 14%|█▍        | 28/200 [00:01<00:07, 24.46it/s]
 16%|█▌        | 31/200 [00:01<00:06, 24.59it/s]
 17%|█▋        | 34/200 [00:01<00:07, 23.34it/s]
 18%|█▊        | 37/200 [00:01<00:06, 24.19it/s]
 20%|██        | 41/200 [00:01<00:06, 25.90it/s]
 22%|██▏       | 44/200 [00:01<00:06, 25.50it/s]
 24%|██▎       | 47/200 [00:01<00:06, 24.81it/s]
 25%|██▌       | 50/200 [00:01<00:05, 26.11it/s]
 26%|██▋       | 53/200 [00:02<00:06, 23.72it/s]
 28%|██▊       | 56/200 [00:02<00:06, 23.01it/s]
 30%|██▉       | 59/200 [00:02<00:06, 23.37it/s]
 31%|███       | 62/200 [00:02<00:06, 21.01it/s]
 32%|███▎      | 65/200 [00:02<00:06, 21.30it/s]
 34%|███▍      | 68/200 [00:02<00:06, 20.98it/s]
 36%|███▌      | 72/200 [00:03<00:05, 23.12it/s]
 38%|███▊      | 75/200 [00:03<00:05, 22.81it/s]
 39%|███▉      | 78/200 [00:03<00:05, 23.76it/s]
 40%|████      | 81/200 [00:03<00:04, 25.12it/s]
 42%|████▏     | 84/200 [00:03<00:04, 24.87it/s]
 44%|████▎     | 87/200 [00:03<00:04, 23.54it/s]
 45%|████▌     | 90/200 [00:03<00:04, 23.07it/s]
 46%|████▋     | 93/200 [00:03<00:04, 24.55it/s]
 48%|████▊     | 97/200 [00:04<00:04, 24.80it/s]
 50%|█████     | 100/200 [00:04<00:05, 19.76it/s]
 52%|█████▏    | 103/200 [00:04<00:04, 20.46it/s]
 53%|█████▎    | 106/200 [00:04<00:04, 20.84it/s]
 55%|█████▍    | 109/200 [00:04<00:04, 18.80it/s]
 56%|█████▌    | 112/200 [00:04<00:04, 20.69it/s]
 57%|█████▊    | 115/200 [00:04<00:03, 21.27it/s]
 59%|█████▉    | 118/200 [00:05<00:03, 23.21it/s]
 60%|██████    | 121/200 [00:05<00:03, 21.38it/s]
 62%|██████▏   | 124/200 [00:05<00:03, 20.12it/s]
 64%|██████▍   | 128/200 [00:05<00:03, 23.39it/s]
 66%|██████▌   | 131/200 [00:05<00:02, 24.26it/s]
 67%|██████▋   | 134/200 [00:05<00:02, 25.04it/s]
 68%|██████▊   | 137/200 [00:05<00:02, 23.79it/s]
 70%|███████   | 140/200 [00:06<00:02, 23.47it/s]
 72%|███████▏  | 143/200 [00:06<00:02, 21.27it/s]
 74%|███████▎  | 147/200 [00:06<00:02, 24.35it/s]
 75%|███████▌  | 150/200 [00:06<00:02, 24.56it/s]
 76%|███████▋  | 153/200 [00:06<00:01, 23.82it/s]
 78%|███████▊  | 156/200 [00:06<00:01, 24.46it/s]
 80%|███████▉  | 159/200 [00:06<00:01, 24.57it/s]
 81%|████████  | 162/200 [00:06<00:01, 21.11it/s]
 82%|████████▎ | 165/200 [00:07<00:01, 19.56it/s]
 84%|████████▍ | 168/200 [00:07<00:01, 19.23it/s]
 85%|████████▌ | 170/200 [00:07<00:01, 18.68it/s]
 86%|████████▋ | 173/200 [00:07<00:01, 20.31it/s]
 88%|████████▊ | 176/200 [00:07<00:01, 19.69it/s]
 90%|████████▉ | 179/200 [00:07<00:01, 19.86it/s]
 91%|█████████ | 182/200 [00:08<00:00, 19.46it/s]
 92%|█████████▎| 185/200 [00:08<00:00, 20.12it/s]
 94%|█████████▍| 189/200 [00:08<00:00, 23.42it/s]
 96%|█████████▌| 192/200 [00:08<00:00, 22.82it/s]
 98%|█████████▊| 195/200 [00:08<00:00, 23.39it/s]
 99%|█████████▉| 198/200 [00:08<00:00, 24.39it/s]
100%|██████████| 200/200 [00:08<00:00, 22.63it/s]
 Median Scale of 200 frame found to be: 0.8900257289946144
 Fit to reference shape: 

0it [00:00, ?it/s]
3it [00:00, 29.49it/s]
8it [00:00, 38.34it/s]
14it [00:00, 45.18it/s]
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26it [00:00, 44.63it/s]
31it [00:00, 43.82it/s]
36it [00:00, 42.77it/s]
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96it [00:01, 75.30it/s]
108it [00:01, 86.22it/s]
117it [00:02, 82.11it/s]
129it [00:02, 90.92it/s]
141it [00:02, 96.98it/s]
153it [00:02, 100.94it/s]
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250it [00:03, 98.06it/s]
262it [00:03, 103.04it/s]
274it [00:03, 105.15it/s]
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450it [00:05, 102.36it/s]
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505it [00:05, 101.25it/s]
516it [00:06, 103.37it/s]
527it [00:06, 103.57it/s]
538it [00:06, 100.31it/s]
549it [00:06, 102.03it/s]
560it [00:06, 94.95it/s] 
571it [00:06, 98.76it/s]
583it [00:06, 101.19it/s]
594it [00:06, 102.10it/s]
605it [00:06, 102.20it/s]
616it [00:07, 99.69it/s] 
628it [00:07, 103.20it/s]
640it [00:07, 104.50it/s]
651it [00:07, 101.22it/s]
662it [00:07, 99.72it/s] 
672it [00:07, 97.60it/s]
683it [00:07, 100.27it/s]
694it [00:07, 99.15it/s] 
705it [00:07, 100.03it/s]
717it [00:08, 105.31it/s]
728it [00:08, 105.68it/s]
740it [00:08, 108.16it/s]
751it [00:08, 107.90it/s]
762it [00:08, 106.27it/s]
774it [00:08, 108.24it/s]
785it [00:08, 106.84it/s]
796it [00:08, 103.37it/s]
807it [00:08, 103.12it/s]
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830it [00:09, 102.78it/s]
841it [00:09, 103.68it/s]
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885it [00:09, 104.29it/s]
896it [00:09, 95.12it/s] 
908it [00:09, 100.18it/s]
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930it [00:10, 94.39it/s]
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953it [00:10, 101.37it/s]
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1006it [00:10, 96.02it/s]
1016it [00:11, 96.69it/s]
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1038it [00:11, 103.15it/s]
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1163it [00:12, 102.62it/s]
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1196it [00:12, 103.90it/s]
1207it [00:12, 104.05it/s]
1218it [00:13, 97.66it/s] 
1229it [00:13, 100.46it/s]
1240it [00:13, 101.79it/s]
1251it [00:13, 102.37it/s]
1263it [00:13, 106.17it/s]
1274it [00:13, 105.63it/s]
1285it [00:13, 97.29it/s] 
1295it [00:13, 96.76it/s]
1307it [00:13, 101.15it/s]
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1328it [00:14, 97.92it/s]
1339it [00:14, 101.31it/s]
1350it [00:14, 100.83it/s]
1362it [00:14, 103.83it/s]
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1471it [00:15, 96.81it/s]
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1545it [00:16, 102.94it/s]
1556it [00:16, 97.07it/s] 
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1588it [00:16, 99.84it/s]
1600it [00:16, 102.91it/s]
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1623it [00:17, 101.44it/s]
1635it [00:17, 105.46it/s]
1646it [00:17, 105.21it/s]
1657it [00:17, 99.65it/s] 
1669it [00:17, 102.69it/s]
1680it [00:17, 102.80it/s]
1691it [00:17, 102.55it/s]
1702it [00:17, 100.81it/s]
1713it [00:18, 103.04it/s]
1724it [00:18, 99.85it/s] 
1735it [00:18, 102.42it/s]
1746it [00:18, 95.81it/s] 
1757it [00:18, 98.93it/s]
1768it [00:18, 96.84it/s]
1778it [00:18, 95.92it/s]
1788it [00:18, 91.70it/s]
1800it [00:18, 97.52it/s]
1810it [00:19, 88.98it/s]
1822it [00:19, 95.51it/s]
1832it [00:19, 96.64it/s]
1844it [00:19, 101.62it/s]
1855it [00:19, 102.46it/s]
1866it [00:19, 104.30it/s]
1877it [00:19, 102.10it/s]
1889it [00:19, 105.28it/s]
1900it [00:19, 106.40it/s]
1911it [00:20, 102.57it/s]
1922it [00:20, 100.74it/s]
1933it [00:20, 101.99it/s]
1944it [00:20, 102.30it/s]
1955it [00:20, 97.46it/s] 
1966it [00:20, 99.25it/s]
1977it [00:20, 99.41it/s]
1988it [00:20, 101.36it/s]
1999it [00:20, 102.09it/s]
2010it [00:21, 94.37it/s] 
2022it [00:21, 99.05it/s]
2034it [00:21, 103.26it/s]
2045it [00:21, 101.43it/s]
2056it [00:21, 98.41it/s] 
2066it [00:21, 97.58it/s]
2077it [00:21, 99.40it/s]
2088it [00:21, 100.24it/s]
2100it [00:21, 104.76it/s]
2111it [00:21, 103.51it/s]
2122it [00:22, 101.55it/s]
2133it [00:22, 103.45it/s]
2144it [00:22, 104.37it/s]
2156it [00:22, 106.86it/s]
2167it [00:22, 107.20it/s]
2180it [00:22, 110.48it/s]
2192it [00:22, 109.33it/s]
2203it [00:22, 105.64it/s]
2214it [00:22, 101.67it/s]
2225it [00:23, 98.25it/s] 
2236it [00:23, 101.21it/s]
2247it [00:23, 102.75it/s]
2258it [00:23, 99.04it/s] 
2268it [00:23, 94.92it/s]
2280it [00:23, 99.53it/s]
2291it [00:23, 98.27it/s]
2302it [00:23, 100.16it/s]
2314it [00:23, 103.86it/s]
2326it [00:24, 108.17it/s]
2337it [00:24, 100.50it/s]
2348it [00:24, 97.76it/s] 
2358it [00:24, 98.22it/s]
2369it [00:24, 100.90it/s]
2380it [00:24, 99.93it/s] 
2392it [00:24, 104.29it/s]
2403it [00:24, 102.88it/s]
2414it [00:24, 100.54it/s]
2425it [00:25, 100.41it/s]
2436it [00:25, 99.81it/s] 
2447it [00:25, 101.12it/s]
2458it [00:25, 103.20it/s]
2469it [00:25, 105.12it/s]
2481it [00:25, 107.80it/s]
2492it [00:25, 107.72it/s]
2504it [00:25, 109.24it/s]
2516it [00:25, 109.59it/s]
2528it [00:26, 111.06it/s]
2540it [00:26, 111.70it/s]
2552it [00:26, 105.72it/s]
2563it [00:26, 102.15it/s]
2574it [00:26, 98.44it/s] 
2584it [00:26, 96.29it/s]
2595it [00:26, 97.59it/s]
2605it [00:26, 92.58it/s]
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2627it [00:27, 97.48it/s]
2637it [00:27, 91.40it/s]
2648it [00:27, 94.56it/s]
2660it [00:27, 100.44it/s]
2672it [00:27, 103.78it/s]
2683it [00:27, 104.16it/s]
2694it [00:27, 99.86it/s] 
2705it [00:27, 101.41it/s]
2716it [00:27, 99.55it/s] 
2728it [00:28, 103.10it/s]
2739it [00:28, 104.09it/s]
2750it [00:28, 101.29it/s]
2761it [00:28, 102.23it/s]
2772it [00:28, 92.93it/s] 
2783it [00:28, 97.00it/s]
2794it [00:28, 98.20it/s]
2804it [00:28, 97.03it/s]
2815it [00:28, 98.90it/s]
2826it [00:29, 101.15it/s]
2837it [00:29, 99.33it/s] 
2850it [00:29, 106.38it/s]
2861it [00:29, 107.04it/s]
2873it [00:29, 110.18it/s]
2885it [00:29, 107.26it/s]
2896it [00:29, 106.98it/s]
2907it [00:29, 101.90it/s]
2918it [00:29, 103.41it/s]
2929it [00:30, 104.01it/s]
2940it [00:30, 100.24it/s]
2951it [00:30, 100.59it/s]
2962it [00:30, 100.47it/s]
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2983it [00:30, 95.72it/s]
2993it [00:30, 93.51it/s]
3004it [00:30, 96.91it/s]
3015it [00:30, 94.81it/s]
3025it [00:31, 92.15it/s]
3037it [00:31, 97.83it/s]
3047it [00:31, 98.01it/s]
3057it [00:31, 98.41it/s]
3068it [00:31, 101.00it/s]
3079it [00:31, 97.81it/s] 
3090it [00:31, 100.31it/s]
3101it [00:31, 95.78it/s] 
3111it [00:31, 94.35it/s]
3121it [00:32, 95.77it/s]
3131it [00:32, 95.65it/s]
3141it [00:32, 96.54it/s]
3151it [00:32, 93.92it/s]
3161it [00:32, 93.29it/s]
3171it [00:32, 93.13it/s]
3182it [00:32, 95.10it/s]
3192it [00:32, 95.45it/s]
3202it [00:32, 96.69it/s]
3214it [00:32, 100.12it/s]
3225it [00:33, 96.45it/s] 
3235it [00:33, 87.18it/s]
3245it [00:33, 89.99it/s]
3255it [00:33, 89.73it/s]
3265it [00:33, 88.13it/s]
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3286it [00:33, 93.62it/s]
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3307it [00:33, 97.55it/s]
3319it [00:34, 102.43it/s]
3330it [00:34, 101.65it/s]
3341it [00:34, 101.74it/s]
3352it [00:34, 103.85it/s]
3363it [00:34, 99.98it/s] 
3375it [00:34, 103.08it/s]
3386it [00:34, 101.61it/s]
3398it [00:34, 105.43it/s]
3409it [00:34, 104.02it/s]
3421it [00:35, 106.70it/s]
3432it [00:35, 107.54it/s]
3444it [00:35, 108.82it/s]
3455it [00:35, 103.47it/s]
3466it [00:35, 100.58it/s]
3477it [00:35, 102.29it/s]
3488it [00:35, 101.63it/s]
3499it [00:35, 100.92it/s]
3510it [00:35, 100.98it/s]
3521it [00:36, 99.68it/s] 
3532it [00:36, 101.48it/s]
3543it [00:36, 101.97it/s]
3554it [00:36, 99.85it/s] 
3565it [00:36, 101.73it/s]
3576it [00:36, 101.50it/s]
3587it [00:36, 103.17it/s]
3598it [00:36, 100.98it/s]
3609it [00:36, 102.64it/s]
3620it [00:37, 95.29it/s] 
3631it [00:37, 98.11it/s]
3643it [00:37, 101.27it/s]
3654it [00:37, 98.78it/s] 
3664it [00:37, 96.21it/s]
3675it [00:37, 98.73it/s]
3686it [00:37, 100.72it/s]
3698it [00:37, 104.62it/s]
3709it [00:37, 101.30it/s]
3720it [00:38, 103.13it/s]
3731it [00:38, 97.20it/s] 
3741it [00:38, 95.38it/s]
3751it [00:38, 95.25it/s]
3762it [00:38, 93.96it/s]
3772it [00:38, 94.03it/s]
3783it [00:38, 97.12it/s]
3793it [00:38, 96.23it/s]
3803it [00:38, 95.14it/s]
3813it [00:39, 95.75it/s]
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Track data saved to /working/a5536710-fdfb-4e3d-9932-1ea501286855/processing/data/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/a5536710-fdfb-4e3d-9932-1ea501286855/processing/data/laser_aligned.ptd.cbor