=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.8
Input file:  /working/d5a2555c-ab08-4a30-b691-32651023bfa2/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 -=-=-=-=-=-=-
2025-12-09T00:56:11 - INFO:  Reading sonar track took 0.1472940444946289 sec!
2025-12-09T00:56:11 - INFO:  Reading sonar alignment track took {0.010092973709106445} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  1%|          | 2/200 [00:00<00:13, 14.91it/s]
  2%|▎         | 5/200 [00:00<00:09, 19.85it/s]
  4%|▍         | 8/200 [00:00<00:08, 22.03it/s]
  6%|▌         | 11/200 [00:00<00:08, 22.18it/s]
  7%|▋         | 14/200 [00:00<00:08, 22.31it/s]
  8%|▊         | 17/200 [00:00<00:08, 22.23it/s]
 10%|█         | 20/200 [00:00<00:07, 23.50it/s]
 12%|█▏        | 23/200 [00:01<00:07, 23.51it/s]
 13%|█▎        | 26/200 [00:01<00:07, 24.00it/s]
 14%|█▍        | 29/200 [00:01<00:07, 24.22it/s]
 16%|█▌        | 32/200 [00:01<00:07, 23.47it/s]
 18%|█▊        | 35/200 [00:01<00:06, 24.59it/s]
 19%|█▉        | 38/200 [00:01<00:06, 25.44it/s]
 20%|██        | 41/200 [00:01<00:07, 22.70it/s]
 22%|██▏       | 44/200 [00:01<00:06, 24.11it/s]
 24%|██▎       | 47/200 [00:02<00:06, 22.99it/s]
 25%|██▌       | 50/200 [00:02<00:06, 22.94it/s]
 26%|██▋       | 53/200 [00:02<00:06, 22.16it/s]
 28%|██▊       | 56/200 [00:02<00:06, 21.29it/s]
 30%|██▉       | 59/200 [00:02<00:06, 21.61it/s]
 31%|███       | 62/200 [00:02<00:06, 22.26it/s]
 32%|███▎      | 65/200 [00:02<00:06, 21.37it/s]
 34%|███▍      | 68/200 [00:03<00:05, 22.12it/s]
 36%|███▌      | 71/200 [00:03<00:05, 22.50it/s]
 37%|███▋      | 74/200 [00:03<00:05, 21.46it/s]
 38%|███▊      | 77/200 [00:03<00:05, 22.03it/s]
 40%|████      | 80/200 [00:03<00:05, 20.89it/s]
 42%|████▏     | 83/200 [00:03<00:05, 22.05it/s]
 43%|████▎     | 86/200 [00:03<00:05, 21.06it/s]
 44%|████▍     | 89/200 [00:03<00:04, 22.66it/s]
 46%|████▌     | 92/200 [00:04<00:04, 22.96it/s]
 48%|████▊     | 95/200 [00:04<00:04, 21.21it/s]
 49%|████▉     | 98/200 [00:04<00:04, 22.94it/s]
 50%|█████     | 101/200 [00:04<00:04, 19.85it/s]
 52%|█████▏    | 104/200 [00:04<00:04, 21.85it/s]
 54%|█████▎    | 107/200 [00:04<00:04, 22.45it/s]
 55%|█████▌    | 110/200 [00:04<00:04, 20.81it/s]
 56%|█████▋    | 113/200 [00:05<00:03, 22.33it/s]
 58%|█████▊    | 116/200 [00:05<00:03, 23.56it/s]
 60%|█████▉    | 119/200 [00:05<00:03, 23.26it/s]
 61%|██████    | 122/200 [00:05<00:03, 22.69it/s]
 62%|██████▎   | 125/200 [00:05<00:03, 23.64it/s]
 64%|██████▍   | 128/200 [00:05<00:03, 23.99it/s]
 66%|██████▌   | 131/200 [00:05<00:03, 22.05it/s]
 67%|██████▋   | 134/200 [00:05<00:02, 22.26it/s]
 68%|██████▊   | 137/200 [00:06<00:02, 22.40it/s]
 70%|███████   | 140/200 [00:06<00:02, 21.14it/s]
 72%|███████▏  | 143/200 [00:06<00:02, 22.21it/s]
 73%|███████▎  | 146/200 [00:06<00:02, 22.37it/s]
 74%|███████▍  | 149/200 [00:06<00:02, 21.30it/s]
 76%|███████▌  | 152/200 [00:06<00:02, 21.50it/s]
 78%|███████▊  | 155/200 [00:06<00:02, 22.26it/s]
 79%|███████▉  | 158/200 [00:07<00:01, 22.42it/s]
 80%|████████  | 161/200 [00:07<00:01, 22.71it/s]
 82%|████████▏ | 164/200 [00:07<00:01, 22.23it/s]
 84%|████████▎ | 167/200 [00:07<00:01, 22.91it/s]
 85%|████████▌ | 170/200 [00:07<00:01, 20.24it/s]
 86%|████████▋ | 173/200 [00:07<00:01, 21.12it/s]
 88%|████████▊ | 176/200 [00:07<00:01, 21.83it/s]
 90%|████████▉ | 179/200 [00:08<00:00, 21.96it/s]
 91%|█████████ | 182/200 [00:08<00:00, 23.19it/s]
 92%|█████████▎| 185/200 [00:08<00:00, 23.92it/s]
 94%|█████████▍| 188/200 [00:08<00:00, 21.84it/s]
 96%|█████████▌| 191/200 [00:08<00:00, 22.41it/s]
 97%|█████████▋| 194/200 [00:08<00:00, 22.48it/s]
 98%|█████████▊| 197/200 [00:08<00:00, 21.04it/s]
100%|██████████| 200/200 [00:08<00:00, 21.21it/s]
100%|██████████| 200/200 [00:08<00:00, 22.23it/s]
 Median Scale of 200 frame found to be: 1.2704305502922608
 Fit to reference shape: 

0it [00:00, ?it/s]
4it [00:00, 38.97it/s]
8it [00:00, 35.12it/s]
12it [00:00, 36.78it/s]
16it [00:00, 37.34it/s]
20it [00:00, 34.15it/s]
24it [00:00, 35.39it/s]
29it [00:00, 36.14it/s]
35it [00:00, 42.03it/s]
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347it [00:05, 74.83it/s]
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366it [00:05, 74.31it/s]
374it [00:05, 70.05it/s]
382it [00:05, 68.96it/s]
389it [00:05, 61.65it/s]
396it [00:05, 60.14it/s]
406it [00:06, 68.66it/s]
416it [00:06, 75.05it/s]
424it [00:06, 70.49it/s]
432it [00:06, 69.17it/s]
440it [00:06, 71.29it/s]
448it [00:06, 67.16it/s]
458it [00:06, 74.72it/s]
469it [00:06, 82.31it/s]
478it [00:06, 83.51it/s]
487it [00:07, 78.66it/s]
496it [00:07, 77.80it/s]
504it [00:07, 67.35it/s]
511it [00:07, 66.33it/s]
520it [00:07, 70.67it/s]
528it [00:07, 72.50it/s]
536it [00:07, 70.51it/s]
545it [00:07, 73.63it/s]
553it [00:08, 74.81it/s]
561it [00:08, 70.04it/s]
571it [00:08, 76.10it/s]
579it [00:08, 71.56it/s]
588it [00:08, 76.26it/s]
596it [00:08, 75.71it/s]
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612it [00:08, 72.68it/s]
620it [00:08, 67.84it/s]
630it [00:09, 72.61it/s]
638it [00:09, 72.83it/s]
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655it [00:09, 72.96it/s]
664it [00:09, 75.88it/s]
672it [00:09, 75.07it/s]
680it [00:09, 75.96it/s]
690it [00:09, 81.60it/s]
699it [00:10, 73.72it/s]
708it [00:10, 75.83it/s]
717it [00:10, 75.57it/s]
725it [00:10, 73.27it/s]
733it [00:10, 71.26it/s]
741it [00:10, 68.55it/s]
750it [00:10, 68.99it/s]
761it [00:10, 79.25it/s]
770it [00:10, 74.39it/s]
778it [00:11, 69.30it/s]
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796it [00:11, 77.27it/s]
804it [00:11, 72.65it/s]
812it [00:11, 74.50it/s]
820it [00:11, 69.94it/s]
828it [00:11, 72.05it/s]
836it [00:11, 69.42it/s]
846it [00:12, 75.95it/s]
854it [00:12, 73.67it/s]
862it [00:12, 73.20it/s]
871it [00:12, 76.55it/s]
882it [00:12, 82.82it/s]
893it [00:12, 88.31it/s]
902it [00:12, 83.47it/s]
911it [00:12, 83.16it/s]
920it [00:12, 84.75it/s]
930it [00:13, 87.85it/s]
939it [00:13, 86.64it/s]
948it [00:13, 84.17it/s]
957it [00:13, 78.69it/s]
966it [00:13, 80.23it/s]
976it [00:13, 83.73it/s]
985it [00:13, 77.38it/s]
993it [00:13, 72.38it/s]
1001it [00:13, 71.07it/s]
1009it [00:14, 73.04it/s]
1017it [00:14, 70.99it/s]
1025it [00:14, 69.44it/s]
1034it [00:14, 73.97it/s]
1042it [00:14, 70.09it/s]
1051it [00:14, 75.02it/s]
1059it [00:14, 76.13it/s]
1067it [00:14, 72.12it/s]
1075it [00:14, 67.60it/s]
1083it [00:15, 69.99it/s]
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1101it [00:15, 74.30it/s]
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1135it [00:15, 76.70it/s]
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1194it [00:16, 66.83it/s]
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1226it [00:16, 86.91it/s]
1235it [00:17, 82.69it/s]
1244it [00:17, 77.30it/s]
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1262it [00:17, 82.17it/s]
1271it [00:17, 82.44it/s]
1280it [00:17, 80.15it/s]
1289it [00:17, 82.30it/s]
1298it [00:17, 76.25it/s]
1307it [00:17, 78.59it/s]
1316it [00:18, 81.17it/s]
1325it [00:18, 83.41it/s]
1335it [00:18, 86.76it/s]
1344it [00:18, 84.59it/s]
1353it [00:18, 83.15it/s]
1362it [00:18, 78.36it/s]
1371it [00:18, 78.65it/s]
1380it [00:18, 81.46it/s]
1389it [00:18, 79.85it/s]
1398it [00:19, 77.03it/s]
1406it [00:19, 76.39it/s]
1414it [00:19, 75.71it/s]
1422it [00:19, 75.71it/s]
1431it [00:19, 77.73it/s]
1439it [00:19, 74.36it/s]
1447it [00:19, 69.18it/s]
1455it [00:19, 71.54it/s]
1463it [00:19, 72.44it/s]
1473it [00:20, 79.46it/s]
1482it [00:20, 81.87it/s]
1491it [00:20, 83.13it/s]
1500it [00:20, 81.11it/s]
1509it [00:20, 83.31it/s]
1518it [00:20, 84.10it/s]
1527it [00:20, 82.40it/s]
1536it [00:20, 74.96it/s]
1545it [00:21, 75.55it/s]
1553it [00:21, 72.68it/s]
1561it [00:21, 62.86it/s]
1568it [00:21, 64.18it/s]
1575it [00:21, 60.82it/s]
1584it [00:21, 67.89it/s]
1592it [00:21, 64.49it/s]
1599it [00:21, 65.86it/s]
1606it [00:21, 66.02it/s]
1614it [00:22, 65.79it/s]
1622it [00:22, 68.67it/s]
1629it [00:22, 68.13it/s]
1636it [00:22, 65.74it/s]
1643it [00:22, 65.05it/s]
1650it [00:22, 64.70it/s]
1659it [00:22, 70.14it/s]
1668it [00:22, 74.49it/s]
1676it [00:22, 70.23it/s]
1684it [00:23, 68.78it/s]
1691it [00:23, 66.31it/s]
1699it [00:23, 69.76it/s]
1707it [00:23, 64.25it/s]
1715it [00:23, 66.29it/s]
1722it [00:23, 64.47it/s]
1731it [00:23, 69.60it/s]
1739it [00:23, 69.88it/s]
1750it [00:24, 80.13it/s]
1759it [00:24, 82.86it/s]
1768it [00:24, 81.85it/s]
1777it [00:24, 76.23it/s]
1786it [00:24, 79.05it/s]
1795it [00:24, 76.36it/s]
1804it [00:24, 79.69it/s]
1814it [00:24, 83.60it/s]
1823it [00:24, 82.07it/s]
1832it [00:25, 74.04it/s]
1840it [00:25, 71.64it/s]
1848it [00:25, 73.61it/s]
1856it [00:25, 73.65it/s]
1867it [00:25, 81.55it/s]
1876it [00:25, 81.12it/s]
1885it [00:25, 76.75it/s]
1893it [00:25, 74.21it/s]
1901it [00:25, 73.39it/s]
1911it [00:26, 78.19it/s]
1919it [00:26, 78.30it/s]
1927it [00:26, 69.31it/s]
1936it [00:26, 72.56it/s]
1944it [00:26, 74.50it/s]
1954it [00:26, 78.40it/s]
1963it [00:26, 75.07it/s]
1971it [00:26, 69.33it/s]
1980it [00:27, 73.88it/s]
1990it [00:27, 79.29it/s]
1999it [00:27, 81.45it/s]
2008it [00:27, 80.24it/s]
2017it [00:27, 81.47it/s]
2026it [00:27, 79.58it/s]
2035it [00:27, 73.07it/s]
2043it [00:27, 73.88it/s]
2051it [00:27, 69.19it/s]
2059it [00:28, 69.06it/s]
2066it [00:28, 64.48it/s]
2074it [00:28, 67.42it/s]
2084it [00:28, 74.68it/s]
2095it [00:28, 79.11it/s]
2103it [00:28, 76.57it/s]
2111it [00:28, 73.39it/s]
2119it [00:28, 71.54it/s]
2127it [00:29, 69.87it/s]
2135it [00:29, 66.81it/s]
2143it [00:29, 70.04it/s]
2153it [00:29, 74.48it/s]
2161it [00:29, 74.78it/s]
2169it [00:29, 67.06it/s]
2179it [00:29, 73.97it/s]
2187it [00:29, 72.83it/s]
2195it [00:29, 73.88it/s]
2203it [00:30, 73.05it/s]
2214it [00:30, 80.94it/s]
2225it [00:30, 88.63it/s]
2234it [00:30, 87.03it/s]
2243it [00:30, 79.73it/s]
2253it [00:30, 83.88it/s]
2262it [00:30, 84.67it/s]
2272it [00:30, 87.30it/s]
2281it [00:30, 86.52it/s]
2290it [00:31, 83.97it/s]
2299it [00:31, 84.22it/s]
2308it [00:31, 77.59it/s]
2318it [00:31, 81.33it/s]
2328it [00:31, 85.73it/s]
2337it [00:31, 76.53it/s]
2346it [00:31, 79.01it/s]
2356it [00:31, 82.63it/s]
2365it [00:32, 80.19it/s]
2374it [00:32, 78.30it/s]
2383it [00:32, 81.04it/s]
2392it [00:32, 78.03it/s]
2401it [00:32, 75.96it/s]
2409it [00:32, 73.89it/s]
2419it [00:32, 80.17it/s]
2429it [00:32, 83.86it/s]
2438it [00:32, 82.35it/s]
2447it [00:33, 78.06it/s]
2458it [00:33, 84.04it/s]
2467it [00:33, 85.12it/s]
2476it [00:33, 79.67it/s]
2485it [00:33, 80.88it/s]
2494it [00:33, 77.19it/s]
2502it [00:33, 76.78it/s]
2510it [00:33, 75.35it/s]
2518it [00:33, 73.67it/s]
2527it [00:34, 78.08it/s]
2536it [00:34, 81.18it/s]
2545it [00:34, 81.01it/s]
2556it [00:34, 88.84it/s]
2565it [00:34, 78.77it/s]
2574it [00:34, 75.35it/s]
2582it [00:34, 72.88it/s]
2591it [00:34, 75.32it/s]
2599it [00:35, 72.10it/s]
2607it [00:35, 68.20it/s]
2615it [00:35, 71.19it/s]
2623it [00:35, 68.16it/s]
2632it [00:35, 71.41it/s]
2640it [00:35, 71.69it/s]
2648it [00:35, 68.55it/s]
2656it [00:35, 69.91it/s]
2665it [00:35, 72.63it/s]
2673it [00:36, 74.09it/s]
2682it [00:36, 78.36it/s]
2690it [00:36, 72.11it/s]
2698it [00:36, 73.19it/s]
2707it [00:36, 77.48it/s]
2715it [00:36, 77.57it/s]
2724it [00:36, 75.58it/s]
2733it [00:36, 77.76it/s]
2741it [00:36, 76.91it/s]
2751it [00:37, 82.13it/s]
2761it [00:37, 84.09it/s]
2770it [00:37, 76.11it/s]
2778it [00:37, 75.36it/s]
2787it [00:37, 76.52it/s]
2796it [00:37, 77.99it/s]
2806it [00:37, 83.36it/s]
2815it [00:37, 77.07it/s]
2824it [00:38, 79.22it/s]
2833it [00:38, 82.10it/s]
2842it [00:38, 69.20it/s]
2850it [00:38, 69.24it/s]
2858it [00:38, 70.25it/s]
2867it [00:38, 73.95it/s]
2876it [00:38, 73.73it/s]
2884it [00:38, 74.66it/s]
2893it [00:38, 76.99it/s]
2901it [00:39, 76.36it/s]
2909it [00:39, 71.77it/s]
2917it [00:39, 70.01it/s]
2925it [00:39, 68.45it/s]
2933it [00:39, 69.41it/s]
2941it [00:39, 70.98it/s]
2950it [00:39, 75.51it/s]
2958it [00:39, 69.27it/s]
2966it [00:40, 64.00it/s]
2976it [00:40, 66.63it/s]
2983it [00:40, 65.38it/s]
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Track data saved to /working/d5a2555c-ab08-4a30-b691-32651023bfa2/processing/data/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/d5a2555c-ab08-4a30-b691-32651023bfa2/processing/data/laser_aligned.ptd.cbor