=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.11
Input file:  /working/d2a72d2e-791c-4bab-aafc-475d9d2dc4b6/processing/data/laser.ptd.dat
Add sonar points?:  True
Selected method:  fit
Shape to fit: /working/shape.shp
The output alignment extension: json
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
 Reading PTD file in binary format...
 Completed!
=-=-=-=-=-Adding Sonar points -=-=-=-=-=-=-
2026-01-09T04:42:28 - INFO:  Reading sonar track took 0.08708047866821289 sec!
2026-01-09T04:42:28 - INFO:  Reading sonar alignment track took {0.006218671798706055} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  0%|          | 1/200 [00:00<00:36,  5.48it/s]
  1%|          | 2/200 [00:00<00:32,  6.04it/s]
  2%|▏         | 3/200 [00:00<00:34,  5.66it/s]
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  2%|▎         | 5/200 [00:00<00:31,  6.21it/s]
  3%|▎         | 6/200 [00:00<00:30,  6.43it/s]
  4%|▎         | 7/200 [00:01<00:32,  6.02it/s]
  4%|▍         | 8/200 [00:01<00:30,  6.30it/s]
  4%|▍         | 9/200 [00:01<00:29,  6.46it/s]
  5%|▌         | 10/200 [00:01<00:30,  6.22it/s]
  6%|▌         | 12/200 [00:01<00:29,  6.41it/s]
  6%|▋         | 13/200 [00:02<00:28,  6.66it/s]
  7%|▋         | 14/200 [00:02<00:27,  6.74it/s]
  8%|▊         | 15/200 [00:02<00:27,  6.73it/s]
  8%|▊         | 16/200 [00:02<00:31,  5.85it/s]
  8%|▊         | 17/200 [00:02<00:29,  6.31it/s]
  9%|▉         | 18/200 [00:02<00:30,  5.89it/s]
 10%|▉         | 19/200 [00:02<00:27,  6.60it/s]
 10%|█         | 20/200 [00:03<00:28,  6.34it/s]
 10%|█         | 21/200 [00:03<00:29,  6.02it/s]
 11%|█         | 22/200 [00:03<00:27,  6.54it/s]
 12%|█▏        | 23/200 [00:03<00:26,  6.76it/s]
 12%|█▏        | 24/200 [00:03<00:26,  6.66it/s]
 12%|█▎        | 25/200 [00:03<00:26,  6.55it/s]
 13%|█▎        | 26/200 [00:04<00:27,  6.43it/s]
 14%|█▎        | 27/200 [00:04<00:26,  6.45it/s]
 14%|█▍        | 28/200 [00:04<00:24,  7.14it/s]
 14%|█▍        | 29/200 [00:04<00:22,  7.71it/s]
 15%|█▌        | 30/200 [00:04<00:22,  7.43it/s]
 16%|█▌        | 31/200 [00:04<00:26,  6.27it/s]
 16%|█▌        | 32/200 [00:04<00:27,  6.10it/s]
 16%|█▋        | 33/200 [00:05<00:25,  6.46it/s]
 17%|█▋        | 34/200 [00:05<00:25,  6.40it/s]
 18%|█▊        | 35/200 [00:05<00:25,  6.46it/s]
 18%|█▊        | 36/200 [00:05<00:24,  6.75it/s]
 18%|█▊        | 37/200 [00:05<00:25,  6.40it/s]
 19%|█▉        | 38/200 [00:05<00:23,  6.79it/s]
 20%|█▉        | 39/200 [00:05<00:22,  7.11it/s]
 20%|██        | 40/200 [00:06<00:22,  6.96it/s]
 20%|██        | 41/200 [00:06<00:22,  7.22it/s]
 21%|██        | 42/200 [00:06<00:23,  6.62it/s]
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 22%|██▏       | 44/200 [00:06<00:24,  6.47it/s]
 22%|██▎       | 45/200 [00:06<00:22,  7.01it/s]
 23%|██▎       | 46/200 [00:07<00:24,  6.39it/s]
 24%|██▎       | 47/200 [00:07<00:22,  6.69it/s]
 24%|██▍       | 48/200 [00:07<00:22,  6.74it/s]
 24%|██▍       | 49/200 [00:07<00:23,  6.49it/s]
 25%|██▌       | 50/200 [00:07<00:22,  6.81it/s]
 26%|██▌       | 51/200 [00:07<00:22,  6.57it/s]
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 26%|██▋       | 53/200 [00:08<00:24,  6.10it/s]
 27%|██▋       | 54/200 [00:08<00:22,  6.41it/s]
 28%|██▊       | 55/200 [00:08<00:23,  6.20it/s]
 28%|██▊       | 56/200 [00:08<00:25,  5.57it/s]
 28%|██▊       | 57/200 [00:08<00:23,  6.15it/s]
 29%|██▉       | 58/200 [00:08<00:23,  6.17it/s]
 30%|██▉       | 59/200 [00:09<00:22,  6.32it/s]
 30%|███       | 60/200 [00:09<00:22,  6.24it/s]
 30%|███       | 61/200 [00:09<00:24,  5.71it/s]
 31%|███       | 62/200 [00:09<00:23,  5.97it/s]
 32%|███▏      | 63/200 [00:09<00:22,  6.10it/s]
 32%|███▏      | 64/200 [00:09<00:20,  6.54it/s]
 32%|███▎      | 65/200 [00:10<00:19,  6.95it/s]
 33%|███▎      | 66/200 [00:10<00:19,  6.85it/s]
 34%|███▎      | 67/200 [00:10<00:18,  7.15it/s]
 34%|███▍      | 68/200 [00:10<00:19,  6.81it/s]
 34%|███▍      | 69/200 [00:10<00:18,  7.16it/s]
 35%|███▌      | 70/200 [00:10<00:18,  7.05it/s]
 36%|███▌      | 71/200 [00:10<00:17,  7.24it/s]
 36%|███▌      | 72/200 [00:11<00:18,  6.78it/s]
 36%|███▋      | 73/200 [00:11<00:18,  7.03it/s]
 37%|███▋      | 74/200 [00:11<00:17,  7.06it/s]
 38%|███▊      | 75/200 [00:11<00:19,  6.54it/s]
 38%|███▊      | 76/200 [00:11<00:18,  6.71it/s]
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 39%|███▉      | 78/200 [00:12<00:19,  6.39it/s]
 40%|███▉      | 79/200 [00:12<00:18,  6.52it/s]
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 42%|████▏     | 83/200 [00:12<00:18,  6.25it/s]
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 45%|████▌     | 90/200 [00:13<00:17,  6.34it/s]
 46%|████▌     | 91/200 [00:14<00:16,  6.42it/s]
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 54%|█████▍    | 108/200 [00:16<00:14,  6.36it/s]
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 57%|█████▋    | 114/200 [00:17<00:12,  7.15it/s]
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 60%|█████▉    | 119/200 [00:18<00:12,  6.32it/s]
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 60%|██████    | 121/200 [00:18<00:11,  6.89it/s]
 61%|██████    | 122/200 [00:18<00:11,  6.83it/s]
 62%|██████▏   | 123/200 [00:18<00:12,  6.37it/s]
 62%|██████▎   | 125/200 [00:19<00:09,  7.72it/s]
 63%|██████▎   | 126/200 [00:19<00:10,  6.76it/s]
 64%|██████▎   | 127/200 [00:19<00:11,  6.37it/s]
 64%|██████▍   | 128/200 [00:19<00:11,  6.24it/s]
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 69%|██████▉   | 138/200 [00:21<00:09,  6.23it/s]
 70%|██████▉   | 139/200 [00:21<00:09,  6.34it/s]
 70%|███████   | 140/200 [00:21<00:09,  6.22it/s]
 70%|███████   | 141/200 [00:21<00:08,  6.76it/s]
 71%|███████   | 142/200 [00:22<00:09,  5.83it/s]
 72%|███████▏  | 143/200 [00:22<00:09,  5.96it/s]
 72%|███████▏  | 144/200 [00:22<00:08,  6.44it/s]
 72%|███████▎  | 145/200 [00:22<00:07,  7.12it/s]
 73%|███████▎  | 146/200 [00:22<00:08,  6.15it/s]
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 74%|███████▍  | 148/200 [00:22<00:08,  6.37it/s]
 74%|███████▍  | 149/200 [00:23<00:08,  6.24it/s]
 75%|███████▌  | 150/200 [00:23<00:07,  6.60it/s]
 76%|███████▌  | 151/200 [00:23<00:08,  5.93it/s]
 76%|███████▌  | 152/200 [00:23<00:08,  5.81it/s]
 76%|███████▋  | 153/200 [00:23<00:07,  6.14it/s]
 77%|███████▋  | 154/200 [00:24<00:08,  5.29it/s]
 78%|███████▊  | 155/200 [00:24<00:08,  5.42it/s]
 78%|███████▊  | 156/200 [00:24<00:07,  5.87it/s]
 78%|███████▊  | 157/200 [00:24<00:06,  6.28it/s]
 79%|███████▉  | 158/200 [00:24<00:07,  5.99it/s]
 80%|███████▉  | 159/200 [00:24<00:06,  5.98it/s]
 80%|████████  | 160/200 [00:24<00:06,  5.92it/s]
 80%|████████  | 161/200 [00:25<00:06,  6.00it/s]
 81%|████████  | 162/200 [00:25<00:06,  5.56it/s]
 82%|████████▏ | 163/200 [00:25<00:05,  6.24it/s]
 82%|████████▏ | 164/200 [00:25<00:05,  6.25it/s]
 82%|████████▎ | 165/200 [00:25<00:05,  6.84it/s]
 83%|████████▎ | 166/200 [00:25<00:05,  6.68it/s]
 84%|████████▎ | 167/200 [00:26<00:04,  7.07it/s]
 84%|████████▍ | 168/200 [00:26<00:04,  6.57it/s]
 84%|████████▍ | 169/200 [00:26<00:05,  5.91it/s]
 85%|████████▌ | 170/200 [00:26<00:04,  6.09it/s]
 86%|████████▌ | 171/200 [00:26<00:05,  5.69it/s]
 86%|████████▌ | 172/200 [00:27<00:05,  5.09it/s]
 86%|████████▋ | 173/200 [00:27<00:05,  4.86it/s]
 87%|████████▋ | 174/200 [00:27<00:05,  5.11it/s]
 88%|████████▊ | 175/200 [00:27<00:04,  5.25it/s]
 88%|████████▊ | 176/200 [00:27<00:04,  5.64it/s]
 88%|████████▊ | 177/200 [00:27<00:04,  5.36it/s]
 89%|████████▉ | 178/200 [00:28<00:03,  6.04it/s]
 90%|████████▉ | 179/200 [00:28<00:03,  5.50it/s]
 90%|█████████ | 180/200 [00:28<00:03,  5.89it/s]
 90%|█████████ | 181/200 [00:28<00:03,  5.29it/s]
 91%|█████████ | 182/200 [00:28<00:03,  5.51it/s]
 92%|█████████▏| 183/200 [00:29<00:03,  5.38it/s]
 92%|█████████▏| 184/200 [00:29<00:02,  5.86it/s]
 92%|█████████▎| 185/200 [00:29<00:02,  6.37it/s]
 93%|█████████▎| 186/200 [00:29<00:02,  6.38it/s]
 94%|█████████▎| 187/200 [00:29<00:01,  7.07it/s]
 94%|█████████▍| 188/200 [00:29<00:01,  6.88it/s]
 94%|█████████▍| 189/200 [00:29<00:01,  7.04it/s]
 95%|█████████▌| 190/200 [00:29<00:01,  7.07it/s]
 96%|█████████▌| 191/200 [00:30<00:01,  6.96it/s]
 96%|█████████▌| 192/200 [00:30<00:01,  7.53it/s]
 96%|█████████▋| 193/200 [00:30<00:00,  7.38it/s]
 97%|█████████▋| 194/200 [00:30<00:00,  7.40it/s]
 98%|█████████▊| 195/200 [00:30<00:00,  7.54it/s]
 98%|█████████▊| 196/200 [00:30<00:00,  7.85it/s]
 98%|█████████▊| 197/200 [00:30<00:00,  7.19it/s]
 99%|█████████▉| 198/200 [00:31<00:00,  7.39it/s]
100%|█████████▉| 199/200 [00:31<00:00,  7.43it/s]
100%|██████████| 200/200 [00:31<00:00,  5.65it/s]
100%|██████████| 200/200 [00:31<00:00,  6.36it/s]
 Median Scale of 200 frame found to be: 1.38267315503069
 Fit to reference shape: 

0it [00:00, ?it/s]
2it [00:00, 19.45it/s]
5it [00:00, 23.98it/s]
8it [00:00, 23.06it/s]
11it [00:00, 24.60it/s]
15it [00:00, 29.38it/s]
18it [00:00, 29.57it/s]
23it [00:00, 34.23it/s]
28it [00:00, 37.07it/s]
32it [00:01, 35.87it/s]
36it [00:01, 32.71it/s]
41it [00:01, 32.95it/s]
45it [00:01, 32.91it/s]
50it [00:01, 35.82it/s]
54it [00:01, 35.34it/s]
58it [00:01, 33.26it/s]
63it [00:01, 36.85it/s]
69it [00:02, 42.37it/s]
74it [00:02, 37.57it/s]
79it [00:02, 39.55it/s]
84it [00:02, 39.84it/s]
89it [00:02, 38.04it/s]
93it [00:02, 36.97it/s]
97it [00:02, 36.42it/s]
101it [00:02, 31.41it/s]
105it [00:03, 32.84it/s]
109it [00:03, 33.61it/s]
113it [00:03, 34.49it/s]
117it [00:03, 35.65it/s]
121it [00:03, 35.21it/s]
125it [00:03, 29.69it/s]
129it [00:03, 31.08it/s]
133it [00:03, 33.17it/s]
137it [00:04, 34.38it/s]
141it [00:04, 30.75it/s]
146it [00:04, 34.09it/s]
152it [00:04, 39.09it/s]
157it [00:04, 34.48it/s]
161it [00:04, 33.28it/s]
165it [00:04, 32.20it/s]
171it [00:04, 38.21it/s]
176it [00:05, 32.42it/s]
180it [00:05, 29.22it/s]
184it [00:05, 29.37it/s]
188it [00:05, 31.44it/s]
192it [00:05, 33.15it/s]
196it [00:05, 31.95it/s]
200it [00:05, 30.72it/s]
204it [00:06, 28.67it/s]
210it [00:06, 32.12it/s]
214it [00:06, 32.36it/s]
218it [00:06, 31.30it/s]
223it [00:06, 31.51it/s]
227it [00:06, 31.75it/s]
231it [00:06, 31.84it/s]
237it [00:07, 34.47it/s]
242it [00:07, 37.01it/s]
247it [00:07, 39.23it/s]
251it [00:07, 33.19it/s]
257it [00:07, 34.84it/s]
262it [00:07, 36.79it/s]
266it [00:07, 36.92it/s]
271it [00:08, 38.72it/s]
275it [00:08, 38.72it/s]
280it [00:08, 41.23it/s]
285it [00:08, 37.08it/s]
289it [00:08, 32.54it/s]
294it [00:08, 34.64it/s]
298it [00:08, 35.14it/s]
303it [00:08, 38.02it/s]
307it [00:08, 37.80it/s]
311it [00:09, 37.15it/s]
315it [00:09, 34.38it/s]
320it [00:09, 38.14it/s]
324it [00:09, 36.04it/s]
328it [00:09, 33.08it/s]
332it [00:09, 33.41it/s]
336it [00:09, 32.58it/s]
340it [00:09, 32.36it/s]
344it [00:10, 32.71it/s]
348it [00:10, 32.22it/s]
352it [00:10, 34.07it/s]
356it [00:10, 31.33it/s]
360it [00:10, 31.57it/s]
364it [00:10, 30.46it/s]
369it [00:10, 34.16it/s]
373it [00:11, 31.81it/s]
378it [00:11, 33.04it/s]
382it [00:11, 32.47it/s]
386it [00:11, 30.41it/s]
390it [00:11, 32.33it/s]
394it [00:11, 28.94it/s]
398it [00:11, 29.18it/s]
401it [00:11, 28.68it/s]
406it [00:12, 32.47it/s]
410it [00:12, 33.50it/s]
414it [00:12, 35.06it/s]
418it [00:12, 35.44it/s]
422it [00:12, 32.51it/s]
427it [00:12, 35.73it/s]
431it [00:12, 32.05it/s]
435it [00:12, 30.66it/s]
439it [00:13, 28.65it/s]
442it [00:13, 27.73it/s]
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5984it [02:28, 47.65it/s]
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Track data saved to /working/d2a72d2e-791c-4bab-aafc-475d9d2dc4b6/processing/data/alignment.track.json
 Writing PTD file in dat format...           Completed!
 PTD file is written to: /working/d2a72d2e-791c-4bab-aafc-475d9d2dc4b6/processing/data/laser_aligned.ptd.dat