=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.9
Input file:  /working/d438acb4-9cf4-47c7-8a0b-67a67f3b1912/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 -=-=-=-=-=-=-
2025-12-22T21:24:29 - INFO:  Reading sonar track took 0.08979129791259766 sec!
2025-12-22T21:24:29 - INFO:  Reading sonar alignment track took {0.0006532669067382812} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  2%|▏         | 3/200 [00:00<00:08, 22.57it/s]
  3%|▎         | 6/200 [00:00<00:08, 23.15it/s]
  4%|▍         | 9/200 [00:00<00:07, 25.22it/s]
  6%|▌         | 12/200 [00:00<00:08, 23.23it/s]
  8%|▊         | 15/200 [00:00<00:07, 23.22it/s]
 10%|▉         | 19/200 [00:00<00:07, 25.07it/s]
 12%|█▏        | 23/200 [00:00<00:06, 26.57it/s]
 13%|█▎        | 26/200 [00:01<00:06, 26.64it/s]
 14%|█▍        | 29/200 [00:01<00:06, 27.30it/s]
 16%|█▌        | 32/200 [00:01<00:06, 26.06it/s]
 18%|█▊        | 35/200 [00:01<00:06, 24.84it/s]
 20%|█▉        | 39/200 [00:01<00:05, 27.10it/s]
 21%|██        | 42/200 [00:01<00:05, 27.42it/s]
 22%|██▎       | 45/200 [00:01<00:05, 26.16it/s]
 24%|██▍       | 48/200 [00:01<00:06, 24.45it/s]
 26%|██▌       | 51/200 [00:02<00:06, 21.77it/s]
 27%|██▋       | 54/200 [00:02<00:06, 21.15it/s]
 28%|██▊       | 57/200 [00:02<00:06, 21.95it/s]
 30%|███       | 60/200 [00:02<00:06, 23.27it/s]
 32%|███▏      | 64/200 [00:02<00:05, 25.25it/s]
 34%|███▎      | 67/200 [00:02<00:05, 26.36it/s]
 35%|███▌      | 70/200 [00:02<00:06, 21.32it/s]
 36%|███▋      | 73/200 [00:03<00:05, 22.10it/s]
 38%|███▊      | 76/200 [00:03<00:05, 23.62it/s]
 40%|███▉      | 79/200 [00:03<00:04, 24.55it/s]
 41%|████      | 82/200 [00:03<00:05, 22.88it/s]
 42%|████▎     | 85/200 [00:03<00:04, 23.99it/s]
 44%|████▍     | 88/200 [00:03<00:04, 25.22it/s]
 46%|████▌     | 91/200 [00:03<00:04, 24.33it/s]
 47%|████▋     | 94/200 [00:03<00:04, 23.98it/s]
 48%|████▊     | 97/200 [00:04<00:04, 22.16it/s]
 50%|█████     | 100/200 [00:04<00:04, 23.94it/s]
 52%|█████▏    | 103/200 [00:04<00:03, 25.30it/s]
 53%|█████▎    | 106/200 [00:04<00:03, 25.39it/s]
 55%|█████▍    | 109/200 [00:04<00:03, 26.04it/s]
 56%|█████▌    | 112/200 [00:04<00:03, 26.60it/s]
 57%|█████▊    | 115/200 [00:04<00:03, 24.32it/s]
 59%|█████▉    | 118/200 [00:04<00:03, 25.08it/s]
 60%|██████    | 121/200 [00:04<00:03, 24.40it/s]
 62%|██████▏   | 124/200 [00:05<00:03, 23.93it/s]
 64%|██████▎   | 127/200 [00:05<00:03, 23.17it/s]
 65%|██████▌   | 130/200 [00:05<00:03, 21.14it/s]
 66%|██████▋   | 133/200 [00:05<00:02, 22.84it/s]
 68%|██████▊   | 136/200 [00:05<00:02, 23.33it/s]
 70%|██████▉   | 139/200 [00:05<00:02, 22.87it/s]
 71%|███████   | 142/200 [00:05<00:02, 20.39it/s]
 72%|███████▎  | 145/200 [00:06<00:02, 20.91it/s]
 74%|███████▍  | 148/200 [00:06<00:02, 21.12it/s]
 76%|███████▌  | 151/200 [00:06<00:02, 21.84it/s]
 77%|███████▋  | 154/200 [00:06<00:01, 23.16it/s]
 78%|███████▊  | 157/200 [00:06<00:01, 22.58it/s]
 80%|████████  | 160/200 [00:06<00:01, 20.30it/s]
 82%|████████▏ | 163/200 [00:06<00:01, 21.10it/s]
 83%|████████▎ | 166/200 [00:07<00:01, 21.66it/s]
 84%|████████▍ | 169/200 [00:07<00:01, 22.68it/s]
 86%|████████▌ | 172/200 [00:07<00:01, 24.28it/s]
 88%|████████▊ | 175/200 [00:07<00:01, 23.30it/s]
 89%|████████▉ | 178/200 [00:07<00:00, 23.97it/s]
 90%|█████████ | 181/200 [00:07<00:00, 25.40it/s]
 92%|█████████▏| 184/200 [00:07<00:00, 26.16it/s]
 94%|█████████▍| 188/200 [00:07<00:00, 27.76it/s]
 96%|█████████▌| 191/200 [00:08<00:00, 24.62it/s]
 97%|█████████▋| 194/200 [00:08<00:00, 23.23it/s]
 98%|█████████▊| 197/200 [00:08<00:00, 23.65it/s]
100%|██████████| 200/200 [00:08<00:00, 24.50it/s]
100%|██████████| 200/200 [00:08<00:00, 23.83it/s]
 Median Scale of 200 frame found to be: 1.2121450218526197
 Fit to reference shape: 

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11it [00:00, 49.56it/s]
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303it [00:05, 87.94it/s]
312it [00:05, 79.36it/s]
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330it [00:05, 81.94it/s]
341it [00:05, 85.67it/s]
353it [00:05, 94.25it/s]
363it [00:05, 91.79it/s]
373it [00:06, 89.15it/s]
382it [00:06, 75.68it/s]
390it [00:06, 75.49it/s]
400it [00:06, 81.57it/s]
411it [00:06, 85.75it/s]
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429it [00:06, 85.73it/s]
438it [00:06, 83.46it/s]
448it [00:06, 86.77it/s]
457it [00:07, 84.43it/s]
468it [00:07, 90.82it/s]
478it [00:07, 92.21it/s]
488it [00:07, 89.18it/s]
497it [00:07, 84.05it/s]
507it [00:07, 87.39it/s]
516it [00:07, 87.93it/s]
525it [00:07, 80.69it/s]
536it [00:07, 86.64it/s]
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556it [00:08, 86.84it/s]
565it [00:08, 79.04it/s]
574it [00:08, 79.70it/s]
583it [00:08, 75.79it/s]
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615it [00:08, 89.30it/s]
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634it [00:09, 79.06it/s]
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663it [00:09, 84.79it/s]
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684it [00:09, 91.27it/s]
694it [00:09, 89.64it/s]
704it [00:09, 88.87it/s]
713it [00:10, 87.28it/s]
722it [00:10, 77.67it/s]
732it [00:10, 82.90it/s]
744it [00:10, 91.98it/s]
756it [00:10, 94.82it/s]
766it [00:10, 94.60it/s]
776it [00:10, 94.27it/s]
787it [00:10, 97.51it/s]
799it [00:10, 102.44it/s]
810it [00:11, 97.29it/s] 
820it [00:11, 92.40it/s]
830it [00:11, 92.90it/s]
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886it [00:12, 82.54it/s]
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937it [00:12, 84.07it/s]
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957it [00:12, 88.22it/s]
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1012it [00:13, 82.11it/s]
1021it [00:13, 83.04it/s]
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1063it [00:14, 90.76it/s]
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1095it [00:14, 92.69it/s]
1107it [00:14, 100.14it/s]
1118it [00:14, 91.15it/s] 
1128it [00:14, 86.95it/s]
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1403it [00:18, 73.09it/s]
1412it [00:18, 71.95it/s]
1421it [00:18, 75.05it/s]
1433it [00:18, 86.07it/s]
1443it [00:18, 88.71it/s]
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1462it [00:18, 87.22it/s]
1471it [00:18, 87.18it/s]
1481it [00:18, 88.97it/s]
1491it [00:19, 91.87it/s]
1501it [00:19, 91.05it/s]
1513it [00:19, 99.04it/s]
1523it [00:19, 94.95it/s]
1533it [00:19, 86.43it/s]
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1560it [00:19, 83.01it/s]
1570it [00:19, 85.82it/s]
1579it [00:20, 86.61it/s]
1588it [00:20, 82.75it/s]
1600it [00:20, 89.67it/s]
1610it [00:20, 88.72it/s]
1619it [00:20, 81.73it/s]
1628it [00:20, 79.07it/s]
1636it [00:20, 76.50it/s]
1645it [00:20, 79.78it/s]
1655it [00:20, 82.32it/s]
1665it [00:21, 85.04it/s]
1674it [00:21, 79.05it/s]
1683it [00:21, 80.65it/s]
1694it [00:21, 87.51it/s]
1703it [00:21, 82.82it/s]
1715it [00:21, 89.01it/s]
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1734it [00:21, 87.03it/s]
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1755it [00:22, 94.23it/s]
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1776it [00:22, 90.65it/s]
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1807it [00:22, 91.63it/s]
1819it [00:22, 96.15it/s]
1829it [00:22, 96.51it/s]
1839it [00:23, 93.56it/s]
1849it [00:23, 91.13it/s]
1859it [00:23, 83.58it/s]
1869it [00:23, 87.20it/s]
1878it [00:23, 80.33it/s]
1887it [00:23, 79.65it/s]
1896it [00:23, 75.38it/s]
1904it [00:23, 76.09it/s]
1912it [00:23, 74.02it/s]
1921it [00:24, 77.77it/s]
1929it [00:24, 77.50it/s]
1938it [00:24, 79.49it/s]
1946it [00:24, 77.26it/s]
1954it [00:24, 73.93it/s]
1963it [00:24, 77.27it/s]
1974it [00:24, 83.15it/s]
1984it [00:24, 86.63it/s]
1994it [00:24, 88.75it/s]
2003it [00:25, 88.50it/s]
2014it [00:25, 94.53it/s]
2024it [00:25, 91.38it/s]
2034it [00:25, 93.13it/s]
2044it [00:25, 85.91it/s]
2053it [00:25, 83.04it/s]
2062it [00:25, 79.66it/s]
2071it [00:25, 80.86it/s]
2080it [00:25, 75.64it/s]
2090it [00:26, 77.12it/s]
2099it [00:26, 76.75it/s]
2110it [00:26, 84.41it/s]
2119it [00:26, 80.67it/s]
2128it [00:26, 77.33it/s]
2137it [00:26, 79.07it/s]
2146it [00:26, 78.67it/s]
2157it [00:26, 85.84it/s]
2166it [00:27, 81.22it/s]
2175it [00:27, 82.19it/s]
2184it [00:27, 81.49it/s]
2193it [00:27, 82.84it/s]
2202it [00:27, 77.15it/s]
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2230it [00:27, 84.19it/s]
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2252it [00:28, 92.30it/s]
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2293it [00:28, 89.67it/s]
2303it [00:28, 90.40it/s]
2314it [00:28, 95.05it/s]
2324it [00:28, 91.56it/s]
2335it [00:28, 95.33it/s]
2345it [00:29, 94.20it/s]
2355it [00:29, 88.58it/s]
2366it [00:29, 93.28it/s]
2376it [00:29, 91.92it/s]
2386it [00:29, 90.43it/s]
2396it [00:29, 88.23it/s]
2405it [00:29, 81.18it/s]
2416it [00:29, 87.51it/s]
2425it [00:30, 86.02it/s]
2434it [00:30, 84.05it/s]
2443it [00:30, 75.57it/s]
2455it [00:30, 86.43it/s]
2464it [00:30, 77.70it/s]
2473it [00:30, 80.26it/s]
2484it [00:30, 86.21it/s]
2494it [00:30, 86.00it/s]
2503it [00:30, 84.53it/s]
2515it [00:31, 94.13it/s]
2525it [00:31, 83.21it/s]
2536it [00:31, 87.85it/s]
2547it [00:31, 92.65it/s]
2557it [00:31, 87.15it/s]
2566it [00:31, 81.01it/s]
2575it [00:31, 82.45it/s]
2584it [00:31, 81.83it/s]
2593it [00:32, 77.20it/s]
2601it [00:32, 73.16it/s]
2609it [00:32, 72.57it/s]
2617it [00:32, 70.36it/s]
2627it [00:32, 77.86it/s]
2635it [00:32, 77.07it/s]
2646it [00:32, 80.63it/s]
2656it [00:32, 84.81it/s]
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2674it [00:33, 83.53it/s]
2686it [00:33, 93.09it/s]
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2708it [00:33, 93.45it/s]
2719it [00:33, 93.05it/s]
2729it [00:33, 87.97it/s]
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2766it [00:34, 82.07it/s]
2775it [00:34, 81.73it/s]
2784it [00:34, 79.61it/s]
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2807it [00:34, 90.21it/s]
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2922it [00:35, 99.71it/s]
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2963it [00:36, 88.06it/s]
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2992it [00:36, 84.07it/s]
3004it [00:36, 92.95it/s]
3014it [00:36, 85.86it/s]
3024it [00:37, 88.94it/s]
3034it [00:37, 90.96it/s]
3044it [00:37, 82.45it/s]
3053it [00:37, 83.84it/s]
3062it [00:37, 84.07it/s]
3073it [00:37, 90.63it/s]
3083it [00:37, 87.11it/s]
3092it [00:37, 85.80it/s]
3101it [00:38, 75.76it/s]
3109it [00:38, 74.92it/s]
3117it [00:38, 72.23it/s]
3127it [00:38, 77.96it/s]
3136it [00:38, 76.98it/s]
3145it [00:38, 79.88it/s]
3157it [00:38, 87.50it/s]
3166it [00:38, 86.89it/s]
3175it [00:38, 80.71it/s]
3185it [00:39, 83.83it/s]
3194it [00:39, 73.37it/s]
3205it [00:39, 80.64it/s]
3214it [00:39, 72.80it/s]
3223it [00:39, 74.51it/s]
3231it [00:39, 71.24it/s]
3243it [00:39, 82.54it/s]
3254it [00:39, 88.35it/s]
3264it [00:40, 89.60it/s]
3274it [00:40, 75.01it/s]
3283it [00:40, 74.63it/s]
3293it [00:40, 79.31it/s]
3302it [00:40, 72.49it/s]
3312it [00:40, 78.41it/s]
3321it [00:40, 80.46it/s]
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8170it [01:36, 90.43it/s]
8181it [01:36, 93.00it/s]
8192it [01:36, 96.11it/s]
8202it [01:37, 77.81it/s]
8203it [01:37, 84.53it/s]
Track data saved to /working/d438acb4-9cf4-47c7-8a0b-67a67f3b1912/processing/data/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/d438acb4-9cf4-47c7-8a0b-67a67f3b1912/processing/data/laser_aligned.ptd.cbor