=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.11
Input file:  /working/ac791da8-1fce-47e1-acb8-b4b79f5224d0/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 -=-=-=-=-=-=-
2026-01-09T04:46:58 - INFO:  Reading sonar track took 0.07427763938903809 sec!
2026-01-09T04:46:58 - INFO:  Reading sonar alignment track took {0.0006299018859863281} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
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  4%|▎         | 7/200 [00:01<00:30,  6.43it/s]
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  6%|▌         | 11/200 [00:01<00:23,  7.88it/s]
  6%|▌         | 12/200 [00:01<00:25,  7.50it/s]
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 14%|█▍        | 28/200 [00:04<00:21,  8.14it/s]
 14%|█▍        | 29/200 [00:04<00:22,  7.63it/s]
 15%|█▌        | 30/200 [00:04<00:22,  7.40it/s]
 16%|█▌        | 31/200 [00:04<00:21,  7.68it/s]
 16%|█▌        | 32/200 [00:04<00:21,  7.95it/s]
 16%|█▋        | 33/200 [00:04<00:20,  8.02it/s]
 17%|█▋        | 34/200 [00:04<00:20,  8.23it/s]
 18%|█▊        | 35/200 [00:05<00:20,  8.20it/s]
 18%|█▊        | 36/200 [00:05<00:20,  8.15it/s]
 18%|█▊        | 37/200 [00:05<00:20,  7.88it/s]
 19%|█▉        | 38/200 [00:05<00:21,  7.61it/s]
 20%|█▉        | 39/200 [00:05<00:21,  7.47it/s]
 20%|██        | 40/200 [00:05<00:22,  7.05it/s]
 20%|██        | 41/200 [00:05<00:22,  7.06it/s]
 21%|██        | 42/200 [00:05<00:20,  7.59it/s]
 22%|██▏       | 43/200 [00:06<00:20,  7.83it/s]
 22%|██▏       | 44/200 [00:06<00:20,  7.77it/s]
 22%|██▎       | 45/200 [00:06<00:19,  7.87it/s]
 23%|██▎       | 46/200 [00:06<00:18,  8.27it/s]
 24%|██▎       | 47/200 [00:06<00:19,  7.91it/s]
 24%|██▍       | 48/200 [00:06<00:20,  7.54it/s]
 24%|██▍       | 49/200 [00:06<00:20,  7.38it/s]
 25%|██▌       | 50/200 [00:07<00:19,  7.83it/s]
 26%|██▌       | 52/200 [00:07<00:16,  9.07it/s]
 27%|██▋       | 54/200 [00:07<00:15,  9.29it/s]
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 28%|██▊       | 57/200 [00:07<00:19,  7.34it/s]
 29%|██▉       | 58/200 [00:07<00:20,  7.06it/s]
 30%|██▉       | 59/200 [00:08<00:19,  7.14it/s]
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 30%|███       | 61/200 [00:08<00:17,  7.85it/s]
 32%|███▏      | 63/200 [00:08<00:17,  7.74it/s]
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 33%|███▎      | 66/200 [00:09<00:19,  6.84it/s]
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 36%|███▌      | 71/200 [00:09<00:15,  8.45it/s]
 36%|███▋      | 73/200 [00:09<00:13,  9.41it/s]
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 49%|████▉     | 98/200 [00:12<00:13,  7.43it/s]
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 50%|█████     | 101/200 [00:13<00:13,  7.51it/s]
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 85%|████████▌ | 170/200 [00:22<00:03,  8.63it/s]
 86%|████████▌ | 171/200 [00:22<00:03,  8.02it/s]
 86%|████████▌ | 172/200 [00:22<00:03,  8.07it/s]
 86%|████████▋ | 173/200 [00:22<00:03,  8.32it/s]
 87%|████████▋ | 174/200 [00:22<00:03,  7.88it/s]
 88%|████████▊ | 175/200 [00:22<00:03,  8.03it/s]
 88%|████████▊ | 177/200 [00:23<00:02,  8.61it/s]
 89%|████████▉ | 178/200 [00:23<00:02,  8.48it/s]
 90%|████████▉ | 179/200 [00:23<00:02,  8.15it/s]
 90%|█████████ | 180/200 [00:23<00:02,  7.69it/s]
 90%|█████████ | 181/200 [00:23<00:02,  7.84it/s]
 91%|█████████ | 182/200 [00:23<00:02,  7.30it/s]
 92%|█████████▏| 183/200 [00:23<00:02,  7.33it/s]
 92%|█████████▏| 184/200 [00:24<00:02,  7.53it/s]
 92%|█████████▎| 185/200 [00:24<00:02,  7.39it/s]
 93%|█████████▎| 186/200 [00:24<00:01,  7.44it/s]
 94%|█████████▎| 187/200 [00:24<00:01,  7.03it/s]
 94%|█████████▍| 189/200 [00:24<00:01,  7.69it/s]
 95%|█████████▌| 190/200 [00:24<00:01,  7.99it/s]
 96%|█████████▌| 191/200 [00:24<00:01,  7.45it/s]
 96%|█████████▌| 192/200 [00:25<00:01,  7.60it/s]
 96%|█████████▋| 193/200 [00:25<00:00,  7.89it/s]
 97%|█████████▋| 194/200 [00:25<00:00,  6.48it/s]
 98%|█████████▊| 195/200 [00:25<00:00,  6.80it/s]
 98%|█████████▊| 196/200 [00:25<00:00,  6.87it/s]
 98%|█████████▊| 197/200 [00:25<00:00,  6.46it/s]
 99%|█████████▉| 198/200 [00:26<00:00,  6.71it/s]
100%|█████████▉| 199/200 [00:26<00:00,  6.82it/s]
100%|██████████| 200/200 [00:26<00:00,  5.95it/s]
100%|██████████| 200/200 [00:26<00:00,  7.58it/s]
 Median Scale of 200 frame found to be: 0.9056808204988825
 Fit to reference shape: 

0it [00:00, ?it/s]
2it [00:00, 19.38it/s]
5it [00:00, 20.56it/s]
8it [00:00, 24.16it/s]
11it [00:00, 19.94it/s]
15it [00:00, 23.50it/s]
19it [00:00, 26.19it/s]
22it [00:00, 24.18it/s]
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54it [00:02, 22.74it/s]
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64it [00:03, 21.72it/s]
67it [00:03, 22.99it/s]
70it [00:03, 24.05it/s]
74it [00:03, 26.54it/s]
77it [00:03, 27.39it/s]
81it [00:03, 28.87it/s]
85it [00:03, 29.49it/s]
89it [00:03, 29.30it/s]
93it [00:04, 30.65it/s]
97it [00:04, 32.48it/s]
102it [00:04, 36.00it/s]
106it [00:04, 31.73it/s]
110it [00:04, 32.53it/s]
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263it [00:10, 52.00it/s]
269it [00:10, 47.46it/s]
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290it [00:11, 42.68it/s]
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305it [00:11, 38.45it/s]
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315it [00:11, 41.54it/s]
321it [00:11, 43.64it/s]
328it [00:12, 49.44it/s]
334it [00:12, 45.73it/s]
339it [00:12, 43.47it/s]
344it [00:12, 43.75it/s]
349it [00:12, 39.34it/s]
355it [00:12, 41.41it/s]
360it [00:12, 30.96it/s]
364it [00:13, 25.56it/s]
367it [00:13, 24.99it/s]
371it [00:13, 27.57it/s]
377it [00:13, 34.24it/s]
381it [00:13, 34.26it/s]
385it [00:13, 27.53it/s]
389it [00:14, 27.54it/s]
394it [00:14, 30.67it/s]
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416it [00:14, 39.53it/s]
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428it [00:14, 40.79it/s]
433it [00:15, 39.76it/s]
438it [00:15, 41.26it/s]
443it [00:15, 42.67it/s]
448it [00:15, 41.58it/s]
453it [00:15, 43.48it/s]
458it [00:15, 40.92it/s]
463it [00:15, 39.63it/s]
468it [00:15, 40.41it/s]
473it [00:16, 42.83it/s]
478it [00:16, 42.79it/s]
484it [00:16, 46.79it/s]
489it [00:16, 47.13it/s]
495it [00:16, 50.34it/s]
501it [00:16, 44.29it/s]
506it [00:16, 35.57it/s]
510it [00:16, 31.82it/s]
514it [00:17, 32.63it/s]
518it [00:17, 27.85it/s]
522it [00:17, 26.67it/s]
527it [00:17, 29.28it/s]
532it [00:17, 32.94it/s]
537it [00:17, 35.88it/s]
544it [00:17, 43.69it/s]
550it [00:18, 45.32it/s]
555it [00:18, 45.34it/s]
562it [00:18, 49.66it/s]
568it [00:18, 50.20it/s]
574it [00:18, 51.50it/s]
580it [00:18, 52.64it/s]
587it [00:18, 54.82it/s]
593it [00:18, 54.08it/s]
599it [00:18, 54.14it/s]
605it [00:19, 54.33it/s]
611it [00:19, 47.86it/s]
619it [00:19, 54.80it/s]
625it [00:19, 54.70it/s]
631it [00:19, 54.46it/s]
637it [00:19, 52.48it/s]
645it [00:19, 58.02it/s]
651it [00:19, 54.33it/s]
658it [00:20, 57.02it/s]
665it [00:20, 57.65it/s]
672it [00:20, 59.14it/s]
678it [00:20, 59.14it/s]
685it [00:20, 59.82it/s]
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17665it [04:41, 90.88it/s]
17678it [04:41, 100.15it/s]
17689it [04:42, 56.42it/s] 
17697it [04:42, 45.82it/s]
17705it [04:42, 51.23it/s]
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17770it [04:43, 70.11it/s]
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17785it [04:44, 58.05it/s]
17792it [04:44, 58.95it/s]
17799it [04:44, 60.72it/s]
17809it [04:44, 68.22it/s]
17818it [04:44, 72.37it/s]
17826it [04:44, 61.49it/s]
17833it [04:45, 43.03it/s]
17839it [04:45, 40.26it/s]
17846it [04:45, 45.73it/s]
17852it [04:45, 33.47it/s]
17857it [04:45, 31.02it/s]
17861it [04:45, 29.65it/s]
17865it [04:46, 26.85it/s]
17868it [04:46, 23.59it/s]
17871it [04:46, 20.75it/s]
17874it [04:46, 19.72it/s]
17877it [04:46, 18.99it/s]
17879it [04:47, 19.05it/s]
17883it [04:47, 23.33it/s]
17887it [04:47, 23.03it/s]
17890it [04:47, 23.96it/s]
17894it [04:47, 24.99it/s]
17897it [04:47, 23.17it/s]
17901it [04:47, 26.10it/s]
17904it [04:47, 23.48it/s]
17907it [04:48, 20.92it/s]
17910it [04:48, 21.30it/s]
17913it [04:48, 19.68it/s]
17916it [04:48, 19.79it/s]
17919it [04:48, 20.05it/s]
17922it [04:48, 21.00it/s]
17925it [04:49, 22.61it/s]
17932it [04:49, 32.68it/s]
17938it [04:49, 38.76it/s]
17947it [04:49, 49.19it/s]
17954it [04:49, 51.95it/s]
17964it [04:49, 63.72it/s]
17973it [04:49, 69.36it/s]
17981it [04:49, 70.19it/s]
17989it [04:49, 66.17it/s]
17998it [04:50, 70.01it/s]
18006it [04:50, 69.98it/s]
18014it [04:50, 68.69it/s]
18021it [04:50, 64.36it/s]
18030it [04:50, 69.12it/s]
18039it [04:50, 73.20it/s]
18047it [04:50, 74.88it/s]
18055it [04:50, 74.27it/s]
18064it [04:50, 75.41it/s]
18076it [04:51, 86.95it/s]
18085it [04:51, 87.41it/s]
18094it [04:51, 80.21it/s]
18104it [04:51, 84.71it/s]
18113it [04:51, 82.77it/s]
18124it [04:51, 84.64it/s]
18134it [04:51, 87.89it/s]
18143it [04:51, 82.97it/s]Optimization failed for a frame: ABNORMAL: 

18152it [04:52, 26.67it/s]Optimization failed for a frame: ABNORMAL: 

18159it [04:53, 20.04it/s]
18170it [04:53, 27.91it/s]
18178it [04:53, 33.44it/s]
18185it [04:53, 35.69it/s]
18193it [04:53, 41.75it/s]
18202it [04:53, 49.88it/s]
18212it [04:54, 58.38it/s]
18220it [04:54, 62.25it/s]
18230it [04:54, 67.47it/s]Optimization failed for a frame: ABNORMAL: 

18238it [04:54, 47.93it/s]
18248it [04:54, 55.75it/s]
18255it [04:54, 53.77it/s]
18262it [04:55, 54.46it/s]
18269it [04:55, 50.41it/s]
18275it [04:55, 51.52it/s]
18281it [04:55, 52.87it/s]
18287it [04:55, 43.53it/s]
18292it [04:55, 44.70it/s]
18297it [04:55, 44.94it/s]
18304it [04:55, 50.97it/s]
18311it [04:56, 55.68it/s]
18317it [04:56, 33.76it/s]Optimization failed for a frame: ABNORMAL: 

18322it [04:56, 26.21it/s]
18326it [04:56, 27.01it/s]
18333it [04:56, 33.99it/s]
18341it [04:57, 42.58it/s]
18350it [04:57, 52.44it/s]
18357it [04:57, 54.85it/s]
18368it [04:57, 66.85it/s]
18377it [04:57, 71.47it/s]
18386it [04:57, 76.11it/s]
18395it [04:57, 71.40it/s]
18403it [04:57, 56.52it/s]
18410it [04:58, 51.22it/s]
18416it [04:58, 51.79it/s]
18422it [04:58, 50.29it/s]
18428it [04:58, 48.31it/s]
18434it [04:58, 36.19it/s]
18439it [04:58, 38.39it/s]
18444it [04:58, 39.70it/s]
18449it [04:59, 35.10it/s]
18454it [04:59, 37.39it/s]
18459it [04:59, 31.40it/s]
18463it [04:59, 26.20it/s]
18466it [04:59, 24.17it/s]
18471it [05:00, 28.44it/s]
18478it [05:00, 35.08it/s]Optimization failed for a frame: ABNORMAL: 

18482it [05:00, 30.44it/s]
18487it [05:00, 33.66it/s]
18496it [05:00, 45.33it/s]
18505it [05:00, 54.91it/s]
18511it [05:00, 54.50it/s]
18517it [05:00, 44.62it/s]
18529it [05:01, 60.78it/s]
18536it [05:01, 56.71it/s]
18543it [05:01, 39.56it/s]
18549it [05:01, 36.12it/s]
18556it [05:01, 41.60it/s]
18562it [05:01, 45.22it/s]
18569it [05:02, 49.83it/s]
18578it [05:02, 58.41it/s]
18588it [05:02, 66.60it/s]
18597it [05:02, 71.93it/s]
18607it [05:02, 76.53it/s]
18616it [05:02, 78.04it/s]
18625it [05:02, 76.18it/s]
18633it [05:02, 75.92it/s]
18641it [05:02, 75.66it/s]
18649it [05:03, 72.93it/s]
18657it [05:03, 65.40it/s]
18664it [05:03, 53.62it/s]
18670it [05:03, 50.70it/s]
18680it [05:03, 60.89it/s]
18692it [05:03, 74.84it/s]
18702it [05:03, 76.66it/s]
18714it [05:03, 87.32it/s]
18728it [05:04, 99.04it/s]
18739it [05:04, 73.81it/s]
18748it [05:04, 74.99it/s]
18757it [05:04, 73.56it/s]
18766it [05:04, 74.06it/s]
18775it [05:04, 74.52it/s]
18785it [05:04, 80.89it/s]
18795it [05:05, 83.58it/s]
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18813it [05:05, 79.81it/s]
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18840it [05:05, 78.76it/s]
18848it [05:05, 75.47it/s]
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18908it [05:06, 89.52it/s]
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19477it [05:16, 86.98it/s]
19487it [05:16, 88.91it/s]
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19516it [05:16, 78.99it/s]
19525it [05:16, 81.16it/s]
19534it [05:17, 81.25it/s]
19546it [05:17, 91.77it/s]
19556it [05:17, 88.69it/s]
19566it [05:17, 85.39it/s]
19577it [05:17, 90.54it/s]
19587it [05:17, 90.19it/s]
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19606it [05:17, 84.96it/s]
19615it [05:17, 74.27it/s]
19623it [05:18, 51.69it/s]
19630it [05:18, 47.69it/s]
19639it [05:18, 55.85it/s]
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19659it [05:18, 72.70it/s]
19671it [05:18, 81.48it/s]
19680it [05:18, 78.84it/s]
19692it [05:19, 84.70it/s]
19704it [05:19, 90.69it/s]
19714it [05:19, 88.34it/s]
19726it [05:19, 93.60it/s]
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19756it [05:19, 87.57it/s]
19765it [05:19, 88.14it/s]
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19793it [05:20, 85.81it/s]
19803it [05:20, 87.04it/s]
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19825it [05:20, 95.77it/s]
19835it [05:20, 96.92it/s]
19845it [05:20, 91.52it/s]
19855it [05:20, 80.73it/s]
19865it [05:21, 85.20it/s]
19874it [05:21, 82.94it/s]
19883it [05:21, 83.80it/s]
19893it [05:21, 86.87it/s]
19903it [05:21, 83.90it/s]
19912it [05:21, 81.08it/s]
19923it [05:21, 86.47it/s]
19933it [05:21, 88.47it/s]
19943it [05:21, 87.14it/s]
19952it [05:22, 86.24it/s]
19965it [05:22, 96.21it/s]
19976it [05:22, 97.06it/s]
19988it [05:22, 100.99it/s]
20001it [05:22, 105.82it/s]
20012it [05:22, 100.55it/s]
20023it [05:22, 99.95it/s] 
20034it [05:22, 97.70it/s]
20044it [05:22, 94.91it/s]
20055it [05:23, 95.76it/s]
20066it [05:23, 95.33it/s]
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20104it [05:23, 90.85it/s]
20114it [05:23, 87.99it/s]
20124it [05:23, 87.38it/s]
20133it [05:23, 84.64it/s]
20144it [05:24, 89.88it/s]
20154it [05:24, 84.98it/s]
20163it [05:24, 78.66it/s]
20173it [05:24, 83.06it/s]
20185it [05:24, 91.00it/s]
20195it [05:24, 90.23it/s]
20205it [05:24, 85.63it/s]
20214it [05:24, 83.76it/s]
20223it [05:25, 78.90it/s]
20232it [05:25, 81.00it/s]
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20316it [05:26, 86.26it/s]
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20335it [05:26, 87.53it/s]
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20352it [05:26, 53.86it/s]
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20380it [05:27, 71.59it/s]
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20421it [05:27, 71.87it/s]
20430it [05:27, 75.15it/s]
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20465it [05:28, 78.98it/s]
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Track data saved to /working/ac791da8-1fce-47e1-acb8-b4b79f5224d0/processing/data/alignment.track.json
 Writing PTD file in dat format...           Completed!
 PTD file is written to: /working/ac791da8-1fce-47e1-acb8-b4b79f5224d0/processing/data/laser_aligned.ptd.dat