=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.9
Input file:  /working/3c398e1b-02f3-4e1a-80e3-b6865de6c449/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 -=-=-=-=-=-=-
2025-12-22T10:38:57 - INFO:  Reading sonar track took 0.09934115409851074 sec!
2025-12-22T10:38:57 - INFO:  Reading sonar alignment track took {0.005894184112548828} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  1%|          | 2/200 [00:00<00:12, 15.97it/s]
  3%|▎         | 6/200 [00:00<00:07, 25.25it/s]
  4%|▍         | 9/200 [00:00<00:07, 25.94it/s]
  6%|▋         | 13/200 [00:00<00:06, 27.83it/s]
  8%|▊         | 16/200 [00:00<00:07, 25.44it/s]
 10%|█         | 20/200 [00:00<00:07, 25.63it/s]
 12%|█▏        | 23/200 [00:00<00:07, 24.55it/s]
 13%|█▎        | 26/200 [00:01<00:07, 23.51it/s]
 14%|█▍        | 29/200 [00:01<00:06, 24.90it/s]
 16%|█▌        | 32/200 [00:01<00:06, 25.61it/s]
 18%|█▊        | 35/200 [00:01<00:06, 25.27it/s]
 19%|█▉        | 38/200 [00:01<00:06, 26.15it/s]
 20%|██        | 41/200 [00:01<00:06, 24.96it/s]
 22%|██▏       | 44/200 [00:01<00:06, 24.25it/s]
 24%|██▍       | 48/200 [00:01<00:05, 25.39it/s]
 26%|██▌       | 51/200 [00:02<00:05, 26.17it/s]
 27%|██▋       | 54/200 [00:02<00:05, 25.57it/s]
 28%|██▊       | 57/200 [00:02<00:05, 24.74it/s]
 30%|███       | 60/200 [00:02<00:05, 25.53it/s]
 32%|███▏      | 64/200 [00:02<00:05, 26.13it/s]
 34%|███▎      | 67/200 [00:02<00:04, 26.68it/s]
 35%|███▌      | 70/200 [00:02<00:05, 25.44it/s]
 37%|███▋      | 74/200 [00:02<00:04, 27.55it/s]
 39%|███▉      | 78/200 [00:03<00:04, 28.97it/s]
 40%|████      | 81/200 [00:03<00:04, 26.70it/s]
 42%|████▎     | 85/200 [00:03<00:04, 28.04it/s]
 44%|████▍     | 88/200 [00:03<00:04, 25.92it/s]
 46%|████▌     | 91/200 [00:03<00:04, 24.99it/s]
 47%|████▋     | 94/200 [00:03<00:04, 25.72it/s]
 48%|████▊     | 97/200 [00:03<00:03, 26.43it/s]
 50%|█████     | 101/200 [00:03<00:03, 26.53it/s]
 52%|█████▎    | 105/200 [00:04<00:03, 28.10it/s]
 54%|█████▍    | 108/200 [00:04<00:03, 26.44it/s]
 56%|█████▌    | 111/200 [00:04<00:03, 26.33it/s]
 57%|█████▋    | 114/200 [00:04<00:03, 26.97it/s]
 58%|█████▊    | 117/200 [00:04<00:03, 26.02it/s]
 60%|██████    | 120/200 [00:04<00:03, 26.29it/s]
 62%|██████▏   | 123/200 [00:04<00:03, 22.90it/s]
 63%|██████▎   | 126/200 [00:04<00:03, 21.08it/s]
 64%|██████▍   | 129/200 [00:05<00:03, 21.85it/s]
 66%|██████▋   | 133/200 [00:05<00:02, 24.62it/s]
 68%|██████▊   | 137/200 [00:05<00:02, 27.47it/s]
 70%|███████   | 140/200 [00:05<00:02, 26.91it/s]
 72%|███████▏  | 143/200 [00:05<00:02, 25.23it/s]
 73%|███████▎  | 146/200 [00:05<00:02, 26.31it/s]
 74%|███████▍  | 149/200 [00:05<00:02, 24.43it/s]
 76%|███████▌  | 152/200 [00:05<00:01, 25.14it/s]
 78%|███████▊  | 156/200 [00:06<00:01, 26.54it/s]
 80%|████████  | 160/200 [00:06<00:01, 27.96it/s]
 82%|████████▏ | 163/200 [00:06<00:01, 26.06it/s]
 83%|████████▎ | 166/200 [00:06<00:01, 25.86it/s]
 84%|████████▍ | 169/200 [00:06<00:01, 24.19it/s]
 86%|████████▌ | 172/200 [00:06<00:01, 22.72it/s]
 88%|████████▊ | 175/200 [00:06<00:01, 23.00it/s]
 89%|████████▉ | 178/200 [00:07<00:00, 23.08it/s]
 90%|█████████ | 181/200 [00:07<00:00, 23.27it/s]
 92%|█████████▎| 185/200 [00:07<00:00, 25.29it/s]
 94%|█████████▍| 188/200 [00:07<00:00, 25.71it/s]
 96%|█████████▌| 191/200 [00:07<00:00, 22.65it/s]
 98%|█████████▊| 195/200 [00:07<00:00, 25.14it/s]
 99%|█████████▉| 198/200 [00:07<00:00, 26.29it/s]
100%|██████████| 200/200 [00:07<00:00, 25.50it/s]
 Median Scale of 200 frame found to be: 1.2330806131841823
 Fit to reference shape: 

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7it [00:00, 63.00it/s]
14it [00:00, 59.90it/s]
21it [00:00, 55.23it/s]
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428it [00:05, 91.82it/s]
438it [00:06, 89.56it/s]
448it [00:06, 86.54it/s]
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479it [00:06, 79.94it/s]
488it [00:06, 82.16it/s]
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526it [00:07, 80.70it/s]
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586it [00:07, 86.20it/s]
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633it [00:08, 85.10it/s]
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706it [00:09, 82.77it/s]
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753it [00:09, 86.21it/s]
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785it [00:10, 93.10it/s]
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806it [00:10, 91.77it/s]
816it [00:10, 88.20it/s]
825it [00:10, 87.59it/s]
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843it [00:10, 71.59it/s]
851it [00:10, 67.53it/s]
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1126it [00:14, 90.15it/s]
1136it [00:14, 90.24it/s]
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1156it [00:14, 87.84it/s]
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1628it [00:19, 84.70it/s]
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1688it [00:20, 90.93it/s]
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1735it [00:20, 84.88it/s]
1744it [00:21, 84.09it/s]
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1773it [00:21, 78.69it/s]
1782it [00:21, 71.28it/s]
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1803it [00:21, 84.23it/s]
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1832it [00:22, 85.64it/s]
1841it [00:22, 80.83it/s]
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1880it [00:22, 90.82it/s]
1892it [00:22, 96.92it/s]
1902it [00:22, 90.46it/s]
1912it [00:22, 87.67it/s]
1921it [00:23, 86.61it/s]
1931it [00:23, 89.01it/s]
1940it [00:23, 89.25it/s]
1951it [00:23, 94.87it/s]
1961it [00:23, 94.06it/s]
1971it [00:23, 89.29it/s]
1981it [00:23, 90.69it/s]
1991it [00:23, 90.26it/s]
2001it [00:23, 92.91it/s]
2011it [00:24, 90.18it/s]
2021it [00:24, 78.57it/s]
2030it [00:24, 77.28it/s]
2038it [00:24, 77.36it/s]
2046it [00:24, 73.82it/s]
2055it [00:24, 77.02it/s]
2063it [00:24, 76.39it/s]
2073it [00:24, 79.31it/s]
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2106it [00:25, 89.30it/s]
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2166it [00:25, 80.69it/s]
2175it [00:26, 74.87it/s]
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2194it [00:26, 79.71it/s]
2205it [00:26, 86.26it/s]
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2241it [00:26, 104.30it/s]
2252it [00:26, 101.03it/s]
2263it [00:27, 92.59it/s] 
2274it [00:27, 95.19it/s]
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2305it [00:27, 88.07it/s]
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2326it [00:27, 90.97it/s]
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2418it [00:28, 91.60it/s]
2428it [00:28, 90.12it/s]
2438it [00:28, 88.85it/s]
2450it [00:29, 95.90it/s]
2460it [00:29, 83.84it/s]
2470it [00:29, 87.40it/s]
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2489it [00:29, 85.95it/s]
2498it [00:29, 79.66it/s]
2508it [00:29, 83.96it/s]
2521it [00:29, 88.80it/s]
2530it [00:30, 89.00it/s]
2539it [00:30, 82.75it/s]
2549it [00:30, 85.48it/s]
2561it [00:30, 93.25it/s]
2571it [00:30, 92.94it/s]
2581it [00:30, 74.93it/s]
2590it [00:30, 77.12it/s]
2603it [00:30, 89.92it/s]
2614it [00:30, 93.50it/s]
2624it [00:31, 91.90it/s]
2634it [00:31, 92.76it/s]
2644it [00:31, 89.89it/s]
2654it [00:31, 79.57it/s]
2665it [00:31, 86.22it/s]
2675it [00:31, 88.74it/s]
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2695it [00:31, 91.21it/s]
2707it [00:31, 97.37it/s]
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2729it [00:32, 96.84it/s]
2741it [00:32, 98.95it/s]
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2775it [00:32, 83.19it/s]
2784it [00:32, 70.53it/s]
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3200it [00:37, 72.25it/s]
3211it [00:37, 81.29it/s]
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3240it [00:38, 88.68it/s]
3252it [00:38, 96.49it/s]
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3310it [00:38, 79.31it/s]
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3328it [00:39, 81.69it/s]
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3365it [00:39, 76.95it/s]
3373it [00:39, 77.29it/s]
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3392it [00:39, 79.44it/s]
3402it [00:40, 83.68it/s]
3411it [00:40, 82.67it/s]
3420it [00:40, 69.30it/s]
3429it [00:40, 74.18it/s]
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3456it [00:40, 81.99it/s]
3465it [00:40, 72.40it/s]
3475it [00:40, 79.35it/s]
3487it [00:41, 87.21it/s]
3496it [00:41, 87.92it/s]
3505it [00:41, 84.57it/s]
3516it [00:41, 84.24it/s]
3526it [00:41, 84.08it/s]
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Track data saved to /working/3c398e1b-02f3-4e1a-80e3-b6865de6c449/processing/data/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/3c398e1b-02f3-4e1a-80e3-b6865de6c449/processing/data/laser_aligned.ptd.cbor