=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.9
Input file:  /working/2172a7ca-fdb8-4b17-af55-a935b0a95fc4/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 -=-=-=-=-=-=-
2025-12-23T02:19:26 - INFO:  Reading sonar track took 0.08718013763427734 sec!
2025-12-23T02:19:26 - INFO:  Reading sonar alignment track took {0.0063610076904296875} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  0%|          | 1/200 [00:00<00:29,  6.79it/s]
  2%|▏         | 3/200 [00:00<00:15, 12.38it/s]
  2%|▎         | 5/200 [00:00<00:15, 12.85it/s]
  4%|▍         | 8/200 [00:00<00:11, 17.30it/s]
  5%|▌         | 10/200 [00:00<00:10, 18.04it/s]
  6%|▌         | 12/200 [00:00<00:10, 17.27it/s]
  7%|▋         | 14/200 [00:00<00:10, 17.49it/s]
  8%|▊         | 16/200 [00:01<00:11, 16.55it/s]
 10%|▉         | 19/200 [00:01<00:10, 17.94it/s]
 11%|█         | 22/200 [00:01<00:09, 18.66it/s]
 12%|█▏        | 24/200 [00:01<00:10, 17.42it/s]
 13%|█▎        | 26/200 [00:01<00:10, 16.52it/s]
 14%|█▍        | 28/200 [00:01<00:10, 15.91it/s]
 15%|█▌        | 30/200 [00:01<00:10, 16.29it/s]
 16%|█▌        | 32/200 [00:01<00:10, 15.63it/s]
 17%|█▋        | 34/200 [00:02<00:09, 16.62it/s]
 18%|█▊        | 36/200 [00:02<00:10, 15.96it/s]
 19%|█▉        | 38/200 [00:02<00:09, 16.43it/s]
 20%|██        | 40/200 [00:02<00:09, 16.48it/s]
 21%|██        | 42/200 [00:02<00:09, 17.33it/s]
 22%|██▏       | 44/200 [00:02<00:08, 17.63it/s]
 23%|██▎       | 46/200 [00:02<00:09, 17.08it/s]
 24%|██▍       | 48/200 [00:02<00:08, 17.80it/s]
 26%|██▌       | 51/200 [00:03<00:07, 19.52it/s]
 26%|██▋       | 53/200 [00:03<00:07, 18.92it/s]
 28%|██▊       | 55/200 [00:03<00:08, 18.12it/s]
 28%|██▊       | 57/200 [00:03<00:08, 17.69it/s]
 30%|██▉       | 59/200 [00:03<00:07, 17.71it/s]
 30%|███       | 61/200 [00:03<00:07, 17.61it/s]
 32%|███▏      | 63/200 [00:03<00:08, 16.35it/s]
 33%|███▎      | 66/200 [00:03<00:07, 18.00it/s]
 34%|███▍      | 68/200 [00:03<00:07, 18.39it/s]
 35%|███▌      | 70/200 [00:04<00:07, 18.57it/s]
 36%|███▋      | 73/200 [00:04<00:06, 18.92it/s]
 38%|███▊      | 75/200 [00:04<00:07, 17.59it/s]
 38%|███▊      | 77/200 [00:04<00:06, 17.69it/s]
 40%|███▉      | 79/200 [00:04<00:07, 16.85it/s]
 40%|████      | 81/200 [00:04<00:07, 16.97it/s]
 42%|████▏     | 83/200 [00:04<00:07, 16.22it/s]
 42%|████▎     | 85/200 [00:05<00:07, 15.53it/s]
 44%|████▎     | 87/200 [00:05<00:07, 14.55it/s]
 44%|████▍     | 89/200 [00:05<00:07, 15.74it/s]
 46%|████▌     | 92/200 [00:05<00:06, 17.07it/s]
 47%|████▋     | 94/200 [00:05<00:06, 17.25it/s]
 48%|████▊     | 97/200 [00:05<00:05, 18.63it/s]
 50%|████▉     | 99/200 [00:05<00:05, 18.42it/s]
 50%|█████     | 101/200 [00:05<00:05, 17.99it/s]
 52%|█████▏    | 104/200 [00:06<00:04, 19.50it/s]
 53%|█████▎    | 106/200 [00:06<00:04, 19.16it/s]
 55%|█████▍    | 109/200 [00:06<00:04, 19.62it/s]
 56%|█████▌    | 111/200 [00:06<00:04, 19.01it/s]
 56%|█████▋    | 113/200 [00:06<00:04, 17.97it/s]
 58%|█████▊    | 116/200 [00:06<00:04, 18.93it/s]
 59%|█████▉    | 118/200 [00:06<00:04, 18.40it/s]
 60%|██████    | 120/200 [00:06<00:04, 18.47it/s]
 62%|██████▏   | 123/200 [00:07<00:04, 18.66it/s]
 62%|██████▎   | 125/200 [00:07<00:04, 16.82it/s]
 64%|██████▎   | 127/200 [00:07<00:04, 16.52it/s]
 64%|██████▍   | 129/200 [00:07<00:04, 16.41it/s]
 66%|██████▌   | 131/200 [00:07<00:04, 16.44it/s]
 66%|██████▋   | 133/200 [00:07<00:04, 16.68it/s]
 68%|██████▊   | 135/200 [00:07<00:03, 16.55it/s]
 68%|██████▊   | 137/200 [00:07<00:03, 16.57it/s]
 70%|██████▉   | 139/200 [00:08<00:03, 15.79it/s]
 70%|███████   | 141/200 [00:08<00:03, 16.31it/s]
 72%|███████▏  | 144/200 [00:08<00:03, 17.35it/s]
 73%|███████▎  | 146/200 [00:08<00:03, 17.00it/s]
 74%|███████▍  | 148/200 [00:08<00:03, 16.36it/s]
 75%|███████▌  | 150/200 [00:08<00:03, 15.76it/s]
 76%|███████▌  | 152/200 [00:08<00:02, 16.22it/s]
 77%|███████▋  | 154/200 [00:09<00:03, 15.00it/s]
 78%|███████▊  | 156/200 [00:09<00:02, 15.64it/s]
 79%|███████▉  | 158/200 [00:09<00:02, 14.49it/s]
 80%|████████  | 160/200 [00:09<00:02, 15.22it/s]
 81%|████████  | 162/200 [00:09<00:02, 15.98it/s]
 82%|████████▏ | 164/200 [00:09<00:02, 16.60it/s]
 83%|████████▎ | 166/200 [00:09<00:01, 17.46it/s]
 84%|████████▍ | 168/200 [00:09<00:01, 17.52it/s]
 86%|████████▌ | 171/200 [00:10<00:01, 17.87it/s]
 86%|████████▋ | 173/200 [00:10<00:01, 17.86it/s]
 88%|████████▊ | 175/200 [00:10<00:01, 17.75it/s]
 88%|████████▊ | 177/200 [00:10<00:01, 17.41it/s]
 90%|████████▉ | 179/200 [00:10<00:01, 14.53it/s]
 90%|█████████ | 181/200 [00:10<00:01, 13.80it/s]
 92%|█████████▏| 183/200 [00:10<00:01, 14.07it/s]
 92%|█████████▎| 185/200 [00:11<00:01, 13.81it/s]
 94%|█████████▎| 187/200 [00:11<00:00, 14.79it/s]
 94%|█████████▍| 189/200 [00:11<00:00, 15.65it/s]
 96%|█████████▌| 192/200 [00:11<00:00, 17.41it/s]
 98%|█████████▊| 195/200 [00:11<00:00, 19.39it/s]
 99%|█████████▉| 198/200 [00:11<00:00, 19.94it/s]
100%|██████████| 200/200 [00:11<00:00, 16.99it/s]
 Median Scale of 200 frame found to be: 1.5398006208987134
 Fit to reference shape: 

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6it [00:00, 53.96it/s]
12it [00:00, 53.86it/s]
18it [00:00, 55.60it/s]
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558it [00:15, 33.24it/s]
562it [00:16, 27.15it/s]
565it [00:16, 26.96it/s]
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685it [00:20, 31.92it/s]
689it [00:20, 31.95it/s]
694it [00:20, 36.12it/s]
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702it [00:20, 36.58it/s]
706it [00:20, 37.46it/s]
710it [00:20, 33.75it/s]
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722it [00:21, 33.40it/s]
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738it [00:21, 35.38it/s]
742it [00:21, 30.90it/s]
746it [00:22, 31.25it/s]
750it [00:22, 30.25it/s]
754it [00:22, 32.14it/s]
758it [00:22, 30.89it/s]
762it [00:22, 30.31it/s]
766it [00:22, 30.09it/s]
770it [00:22, 30.65it/s]
774it [00:22, 31.06it/s]
779it [00:23, 34.08it/s]
783it [00:23, 35.23it/s]
787it [00:23, 34.13it/s]
791it [00:23, 31.32it/s]
795it [00:23, 32.04it/s]
799it [00:23, 32.29it/s]
805it [00:23, 35.22it/s]
809it [00:23, 31.94it/s]
813it [00:24, 32.01it/s]
817it [00:24, 31.40it/s]
821it [00:24, 32.91it/s]
825it [00:24, 32.91it/s]
829it [00:24, 32.34it/s]
834it [00:24, 33.40it/s]
838it [00:24, 31.78it/s]
842it [00:25, 31.96it/s]
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850it [00:25, 29.33it/s]
854it [00:25, 27.77it/s]
858it [00:25, 29.84it/s]
862it [00:25, 30.95it/s]
866it [00:25, 31.27it/s]
870it [00:25, 29.36it/s]
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878it [00:26, 30.73it/s]
882it [00:26, 30.32it/s]
886it [00:26, 32.67it/s]
891it [00:26, 35.54it/s]
896it [00:26, 39.07it/s]
900it [00:26, 36.81it/s]
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908it [00:27, 35.25it/s]
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1070it [00:31, 36.09it/s]
1074it [00:32, 33.39it/s]
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1082it [00:32, 27.87it/s]
1086it [00:32, 29.65it/s]
1090it [00:32, 30.65it/s]
1094it [00:32, 31.16it/s]
1098it [00:32, 29.40it/s]
1102it [00:33, 31.21it/s]
1106it [00:33, 30.56it/s]
1110it [00:33, 30.79it/s]
1114it [00:33, 29.61it/s]
1118it [00:33, 27.60it/s]
1122it [00:33, 29.15it/s]
1125it [00:33, 29.14it/s]
1128it [00:34, 28.12it/s]
1131it [00:34, 28.34it/s]
1134it [00:34, 27.68it/s]
1137it [00:34, 23.76it/s]
1142it [00:34, 28.12it/s]
1145it [00:34, 27.23it/s]
1149it [00:34, 30.35it/s]
1153it [00:34, 30.68it/s]
1158it [00:34, 34.01it/s]
1163it [00:35, 35.66it/s]
1169it [00:35, 39.09it/s]
1173it [00:35, 38.34it/s]
1177it [00:35, 36.10it/s]
1181it [00:35, 32.55it/s]
1186it [00:35, 34.31it/s]
1190it [00:35, 32.89it/s]
1194it [00:36, 31.25it/s]
1198it [00:36, 29.43it/s]
1202it [00:36, 30.52it/s]
1206it [00:36, 31.43it/s]
1211it [00:36, 34.61it/s]
1215it [00:36, 35.24it/s]
1219it [00:36, 32.78it/s]
1223it [00:36, 31.78it/s]
1227it [00:37, 32.54it/s]
1231it [00:37, 34.14it/s]
1235it [00:37, 31.56it/s]
1239it [00:37, 30.99it/s]
1243it [00:37, 32.71it/s]
1247it [00:37, 32.72it/s]
1251it [00:37, 29.23it/s]
1255it [00:37, 31.03it/s]
1259it [00:38, 28.69it/s]
1262it [00:38, 27.13it/s]
1266it [00:38, 28.92it/s]
1269it [00:38, 28.74it/s]
1272it [00:38, 28.50it/s]
1276it [00:38, 31.36it/s]
1281it [00:38, 35.69it/s]
1286it [00:38, 38.34it/s]
1290it [00:39, 38.58it/s]
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9021it [04:44, 38.95it/s]
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9058it [04:45, 31.73it/s]
Track data saved to /working/2172a7ca-fdb8-4b17-af55-a935b0a95fc4/processing/data/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/2172a7ca-fdb8-4b17-af55-a935b0a95fc4/processing/data/laser_aligned.ptd.cbor