=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.9
Input file:  /working/d5b6ab98-7f60-4106-a1a7-cb1ca80068ea/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 -=-=-=-=-=-=-
2025-12-21T18:56:57 - INFO:  Reading sonar track took 0.43648266792297363 sec!
2025-12-21T18:56:57 - INFO:  Reading sonar alignment track took {0.005806922912597656} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  2%|▏         | 3/200 [00:00<00:07, 27.71it/s]
  4%|▎         | 7/200 [00:00<00:06, 31.31it/s]
  6%|▌         | 11/200 [00:00<00:06, 29.39it/s]
  7%|▋         | 14/200 [00:00<00:06, 29.24it/s]
  8%|▊         | 17/200 [00:00<00:07, 25.78it/s]
 10%|█         | 21/200 [00:00<00:06, 27.51it/s]
 12%|█▎        | 25/200 [00:00<00:06, 27.90it/s]
 14%|█▍        | 28/200 [00:01<00:06, 27.54it/s]
 16%|█▌        | 31/200 [00:01<00:07, 23.90it/s]
 17%|█▋        | 34/200 [00:01<00:07, 23.63it/s]
 18%|█▊        | 37/200 [00:01<00:07, 23.00it/s]
 20%|██        | 40/200 [00:01<00:07, 21.95it/s]
 22%|██▏       | 43/200 [00:01<00:07, 21.56it/s]
 23%|██▎       | 46/200 [00:01<00:07, 21.25it/s]
 24%|██▍       | 49/200 [00:02<00:07, 19.75it/s]
 26%|██▌       | 52/200 [00:02<00:09, 15.73it/s]
 27%|██▋       | 54/200 [00:02<00:08, 16.26it/s]
 28%|██▊       | 56/200 [00:02<00:09, 15.88it/s]
 29%|██▉       | 58/200 [00:02<00:08, 16.14it/s]
 30%|███       | 60/200 [00:02<00:08, 16.57it/s]
 31%|███       | 62/200 [00:02<00:08, 15.91it/s]
 32%|███▏      | 64/200 [00:03<00:08, 16.81it/s]
 34%|███▎      | 67/200 [00:03<00:07, 17.04it/s]
 34%|███▍      | 69/200 [00:03<00:07, 16.80it/s]
 36%|███▌      | 71/200 [00:03<00:07, 17.10it/s]
 36%|███▋      | 73/200 [00:03<00:07, 16.32it/s]
 38%|███▊      | 75/200 [00:03<00:07, 15.76it/s]
 39%|███▉      | 78/200 [00:03<00:06, 17.47it/s]
 40%|████      | 80/200 [00:03<00:06, 17.26it/s]
 41%|████      | 82/200 [00:04<00:08, 14.17it/s]
 42%|████▏     | 84/200 [00:04<00:08, 14.33it/s]
 43%|████▎     | 86/200 [00:04<00:07, 15.45it/s]
 44%|████▍     | 88/200 [00:04<00:06, 16.50it/s]
 45%|████▌     | 90/200 [00:04<00:06, 17.07it/s]
 46%|████▌     | 92/200 [00:04<00:07, 15.04it/s]
 47%|████▋     | 94/200 [00:05<00:07, 13.65it/s]
 48%|████▊     | 96/200 [00:05<00:08, 12.58it/s]
 49%|████▉     | 98/200 [00:05<00:07, 13.65it/s]
 50%|█████     | 100/200 [00:05<00:06, 14.83it/s]
 51%|█████     | 102/200 [00:05<00:06, 15.87it/s]
 52%|█████▏    | 104/200 [00:05<00:05, 16.67it/s]
 54%|█████▎    | 107/200 [00:05<00:05, 18.15it/s]
 55%|█████▍    | 109/200 [00:05<00:05, 17.60it/s]
 56%|█████▌    | 111/200 [00:05<00:04, 18.19it/s]
 56%|█████▋    | 113/200 [00:06<00:04, 17.98it/s]
 58%|█████▊    | 116/200 [00:06<00:04, 18.61it/s]
 59%|█████▉    | 118/200 [00:06<00:04, 18.15it/s]
 60%|██████    | 120/200 [00:06<00:04, 16.95it/s]
 62%|██████▏   | 123/200 [00:06<00:04, 17.10it/s]
 62%|██████▎   | 125/200 [00:06<00:04, 16.05it/s]
 64%|██████▎   | 127/200 [00:06<00:04, 16.75it/s]
 65%|██████▌   | 130/200 [00:07<00:03, 17.78it/s]
 66%|██████▌   | 132/200 [00:07<00:03, 18.07it/s]
 68%|██████▊   | 135/200 [00:07<00:03, 19.08it/s]
 68%|██████▊   | 137/200 [00:07<00:03, 19.06it/s]
 70%|███████   | 140/200 [00:07<00:02, 20.23it/s]
 72%|███████▏  | 143/200 [00:07<00:03, 18.70it/s]
 72%|███████▎  | 145/200 [00:07<00:03, 17.97it/s]
 74%|███████▎  | 147/200 [00:08<00:03, 17.15it/s]
 74%|███████▍  | 149/200 [00:08<00:02, 17.42it/s]
 76%|███████▌  | 151/200 [00:08<00:02, 17.89it/s]
 76%|███████▋  | 153/200 [00:08<00:02, 16.23it/s]
 78%|███████▊  | 155/200 [00:08<00:02, 15.65it/s]
 79%|███████▉  | 158/200 [00:08<00:02, 17.47it/s]
 80%|████████  | 161/200 [00:08<00:02, 18.84it/s]
 82%|████████▏ | 163/200 [00:08<00:01, 18.55it/s]
 82%|████████▎ | 165/200 [00:09<00:01, 18.64it/s]
 84%|████████▎ | 167/200 [00:09<00:01, 18.88it/s]
 84%|████████▍ | 169/200 [00:09<00:01, 18.40it/s]
 86%|████████▌ | 171/200 [00:09<00:01, 18.78it/s]
 86%|████████▋ | 173/200 [00:09<00:01, 17.61it/s]
 88%|████████▊ | 175/200 [00:09<00:01, 17.52it/s]
 89%|████████▉ | 178/200 [00:09<00:01, 18.51it/s]
 90%|█████████ | 180/200 [00:09<00:01, 18.26it/s]
 91%|█████████ | 182/200 [00:09<00:00, 18.10it/s]
 92%|█████████▎| 185/200 [00:10<00:00, 19.33it/s]
 94%|█████████▍| 188/200 [00:10<00:00, 19.15it/s]
 96%|█████████▌| 191/200 [00:10<00:00, 19.30it/s]
 96%|█████████▋| 193/200 [00:10<00:00, 19.08it/s]
 98%|█████████▊| 195/200 [00:10<00:00, 18.99it/s]
 99%|█████████▉| 198/200 [00:10<00:00, 19.88it/s]
100%|██████████| 200/200 [00:10<00:00, 18.45it/s]
 Median Scale of 200 frame found to be: 1.033673156689518
 Fit to reference shape: 

0it [00:00, ?it/s]
14it [00:00, 128.45it/s]
29it [00:00, 134.46it/s]
46it [00:00, 147.16it/s]
62it [00:00, 150.47it/s]
78it [00:00, 145.71it/s]
93it [00:00, 137.79it/s]
107it [00:00, 136.36it/s]
123it [00:00, 140.88it/s]
138it [00:01, 129.91it/s]
152it [00:01, 119.01it/s]
165it [00:01, 116.82it/s]
177it [00:01, 111.68it/s]
189it [00:01, 111.17it/s]
205it [00:01, 122.44it/s]
218it [00:01, 123.00it/s]
231it [00:01, 120.75it/s]
244it [00:01, 110.76it/s]
256it [00:02, 104.78it/s]
267it [00:02, 102.95it/s]
280it [00:02, 106.78it/s]
291it [00:02, 104.68it/s]
302it [00:02, 105.31it/s]
313it [00:02, 92.81it/s] 
324it [00:02, 93.42it/s]
334it [00:02, 94.35it/s]
345it [00:03, 97.99it/s]
355it [00:03, 97.15it/s]
370it [00:03, 110.52it/s]
382it [00:03, 95.67it/s] 
393it [00:03, 87.87it/s]
403it [00:03, 90.26it/s]
413it [00:03, 90.97it/s]
423it [00:03, 89.65it/s]
433it [00:03, 83.51it/s]
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529it [00:04, 108.09it/s]
541it [00:05, 111.27it/s]
557it [00:05, 125.24it/s]
570it [00:05, 112.35it/s]
582it [00:05, 105.84it/s]
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604it [00:05, 97.99it/s] 
614it [00:05, 97.67it/s]
628it [00:05, 107.84it/s]
641it [00:06, 113.82it/s]
657it [00:06, 125.57it/s]
670it [00:06, 121.82it/s]
683it [00:06, 124.08it/s]
699it [00:06, 133.78it/s]
713it [00:06, 134.51it/s]
729it [00:06, 141.91it/s]
745it [00:06, 146.94it/s]
760it [00:06, 131.98it/s]
774it [00:07, 128.82it/s]
789it [00:07, 133.74it/s]
805it [00:07, 141.01it/s]
821it [00:07, 144.84it/s]
836it [00:07, 136.25it/s]
850it [00:07, 135.65it/s]
864it [00:07, 127.92it/s]
879it [00:07, 132.99it/s]
894it [00:07, 136.30it/s]
910it [00:07, 142.40it/s]
929it [00:08, 153.64it/s]
945it [00:08, 149.22it/s]
961it [00:08, 147.59it/s]
976it [00:08, 133.98it/s]
990it [00:08, 131.64it/s]
1005it [00:08, 134.22it/s]
1019it [00:08, 127.91it/s]
1033it [00:08, 130.25it/s]
1047it [00:09, 124.80it/s]
1060it [00:09, 112.14it/s]
1073it [00:09, 114.54it/s]
1087it [00:09, 121.24it/s]
1100it [00:09, 118.09it/s]
1113it [00:09, 121.18it/s]
1126it [00:09, 112.63it/s]
1140it [00:09, 118.68it/s]
1153it [00:09, 117.86it/s]
1169it [00:10, 129.42it/s]
1184it [00:10, 134.92it/s]
1198it [00:10, 135.09it/s]
1214it [00:10, 139.76it/s]
1229it [00:10, 141.23it/s]
1245it [00:10, 146.32it/s]
1260it [00:10, 147.08it/s]
1275it [00:10, 145.40it/s]
1290it [00:10, 131.30it/s]
1304it [00:11, 126.22it/s]
1317it [00:11, 112.66it/s]
1329it [00:11, 106.87it/s]
1340it [00:11, 105.56it/s]
1352it [00:11, 107.76it/s]
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1389it [00:11, 93.82it/s] 
1400it [00:12, 97.52it/s]
1411it [00:12, 98.03it/s]
1422it [00:12, 93.28it/s]
1433it [00:12, 97.26it/s]
1444it [00:12, 99.78it/s]
1456it [00:12, 104.05it/s]
1469it [00:12, 102.25it/s]
1480it [00:12, 99.95it/s] 
1493it [00:12, 106.19it/s]
1505it [00:13, 109.71it/s]
1519it [00:13, 116.08it/s]
1531it [00:13, 98.88it/s] 
1543it [00:13, 103.16it/s]
1554it [00:13, 99.16it/s] 
1566it [00:13, 102.48it/s]
1577it [00:13, 102.97it/s]
1589it [00:13, 107.22it/s]
1601it [00:13, 110.48it/s]
1613it [00:14, 107.46it/s]
1628it [00:14, 114.80it/s]
1640it [00:14, 111.94it/s]
1652it [00:14, 102.81it/s]
1665it [00:14, 109.55it/s]
1677it [00:14, 112.39it/s]
1689it [00:14, 111.41it/s]
1701it [00:14, 112.07it/s]
1714it [00:14, 116.02it/s]
1726it [00:15, 106.48it/s]
1738it [00:15, 108.26it/s]
1749it [00:15, 101.26it/s]
1760it [00:15, 100.97it/s]
1771it [00:15, 92.28it/s] 
1781it [00:15, 91.05it/s]
1791it [00:15, 91.78it/s]
1804it [00:15, 100.79it/s]
1819it [00:15, 113.48it/s]
1831it [00:16, 110.11it/s]
1846it [00:16, 119.06it/s]
1859it [00:16, 110.26it/s]
1871it [00:16, 103.85it/s]
1882it [00:16, 97.88it/s] 
1892it [00:16, 92.84it/s]
1902it [00:16, 87.23it/s]
1916it [00:16, 99.81it/s]
1927it [00:17, 94.17it/s]
1941it [00:17, 104.25it/s]
1953it [00:17, 108.19it/s]
1965it [00:17, 102.06it/s]
1976it [00:17, 90.52it/s] 
1989it [00:17, 98.77it/s]
2000it [00:17, 93.37it/s]
2011it [00:17, 95.16it/s]
2023it [00:18, 100.83it/s]
2035it [00:18, 105.13it/s]
2046it [00:18, 100.84it/s]
2057it [00:18, 99.31it/s] 
2072it [00:18, 105.73it/s]
2084it [00:18, 108.82it/s]
2098it [00:18, 115.20it/s]
2110it [00:18, 104.74it/s]
2124it [00:18, 112.58it/s]
2136it [00:19, 95.57it/s] 
2147it [00:19, 98.84it/s]
2158it [00:19, 101.39it/s]
2172it [00:19, 107.38it/s]
2183it [00:19, 107.26it/s]
2195it [00:19, 103.03it/s]
2206it [00:19, 103.71it/s]
2218it [00:19, 107.13it/s]
2232it [00:20, 115.74it/s]
2244it [00:20, 112.71it/s]
2256it [00:20, 111.66it/s]
2268it [00:20, 110.22it/s]
2280it [00:20, 105.23it/s]
2291it [00:20, 105.67it/s]
2303it [00:20, 109.21it/s]
2316it [00:20, 113.04it/s]
2328it [00:20, 97.91it/s] 
2339it [00:21, 95.00it/s]
2352it [00:21, 98.60it/s]
2365it [00:21, 105.23it/s]
2381it [00:21, 116.14it/s]
2393it [00:21, 109.02it/s]
2405it [00:21, 103.38it/s]
2416it [00:21, 102.90it/s]
2427it [00:21, 103.24it/s]
2439it [00:21, 107.14it/s]
2450it [00:22, 104.76it/s]
2462it [00:22, 107.06it/s]
2473it [00:22, 106.92it/s]
2486it [00:22, 111.99it/s]
2498it [00:22, 113.05it/s]
2510it [00:22, 110.00it/s]
2522it [00:22, 105.62it/s]
2535it [00:22, 106.15it/s]
2546it [00:22, 103.84it/s]
2561it [00:23, 113.77it/s]
2576it [00:23, 115.20it/s]
2588it [00:23, 99.10it/s] 
2599it [00:23, 99.89it/s]
2611it [00:23, 101.85it/s]
2623it [00:23, 104.53it/s]
2634it [00:23, 98.80it/s] 
2649it [00:23, 109.15it/s]
2663it [00:24, 116.29it/s]
2676it [00:24, 118.76it/s]
2689it [00:24, 120.15it/s]
2702it [00:24, 110.94it/s]
2714it [00:24, 101.04it/s]
2725it [00:24, 93.19it/s] 
2738it [00:24, 102.17it/s]
2751it [00:24, 106.93it/s]
2765it [00:24, 114.80it/s]
2777it [00:25, 106.63it/s]
2790it [00:25, 112.49it/s]
2803it [00:25, 116.31it/s]
2815it [00:25, 111.45it/s]
2830it [00:25, 117.21it/s]
2845it [00:25, 124.64it/s]
2858it [00:25, 103.87it/s]
2870it [00:25, 106.48it/s]
2885it [00:26, 116.85it/s]
2898it [00:26, 112.61it/s]
2910it [00:26, 104.18it/s]
2923it [00:26, 106.78it/s]
2934it [00:26, 100.74it/s]
2945it [00:26, 89.37it/s] 
2955it [00:26, 83.81it/s]
2969it [00:26, 96.48it/s]
2981it [00:27, 101.88it/s]
2992it [00:27, 99.22it/s] 
3003it [00:27, 94.83it/s]
3013it [00:27, 93.56it/s]
3023it [00:27, 91.57it/s]
3033it [00:27, 86.17it/s]
3042it [00:27, 84.29it/s]
3053it [00:27, 84.73it/s]
3065it [00:28, 92.79it/s]
3075it [00:28, 92.87it/s]
3088it [00:28, 96.77it/s]
3099it [00:28, 100.00it/s]
3110it [00:28, 99.41it/s] 
3121it [00:28, 94.52it/s]
3131it [00:28, 95.43it/s]
3143it [00:28, 100.41it/s]
3155it [00:28, 104.96it/s]
3166it [00:29, 90.04it/s] 
3176it [00:29, 91.68it/s]
3187it [00:29, 92.31it/s]
3197it [00:29, 93.03it/s]
3210it [00:29, 100.19it/s]
3221it [00:29, 100.54it/s]
3232it [00:29, 99.28it/s] 
3243it [00:29, 102.14it/s]
3254it [00:29, 97.73it/s] 
3266it [00:30, 102.31it/s]
3277it [00:30, 98.81it/s] 
3290it [00:30, 105.84it/s]
3302it [00:30, 109.22it/s]
3314it [00:30, 110.07it/s]
3327it [00:30, 114.04it/s]
3339it [00:30, 114.12it/s]
3352it [00:30, 115.44it/s]
3366it [00:30, 120.92it/s]
3379it [00:31, 114.85it/s]
3391it [00:31, 101.19it/s]
3402it [00:31, 100.00it/s]
3413it [00:31, 101.05it/s]
3425it [00:31, 105.44it/s]
3439it [00:31, 112.39it/s]
3451it [00:31, 111.81it/s]
3464it [00:31, 115.68it/s]
3476it [00:31, 107.04it/s]
3490it [00:32, 115.70it/s]
3502it [00:32, 110.01it/s]
3514it [00:32, 105.75it/s]
3525it [00:32, 97.40it/s] 
3539it [00:32, 108.20it/s]
3551it [00:32, 108.48it/s]
3563it [00:32, 107.71it/s]
3574it [00:32, 103.01it/s]
3590it [00:33, 117.58it/s]
3602it [00:33, 115.42it/s]
3614it [00:33, 100.59it/s]
3628it [00:33, 107.36it/s]
3640it [00:33, 103.61it/s]
3655it [00:33, 114.72it/s]
3667it [00:33, 114.85it/s]
3679it [00:33, 109.97it/s]
3694it [00:33, 117.35it/s]
3707it [00:34, 119.21it/s]
3720it [00:34, 109.36it/s]
3732it [00:34, 99.24it/s] 
3743it [00:34, 99.09it/s]
3755it [00:34, 102.07it/s]
3769it [00:34, 108.95it/s]
3781it [00:34, 111.59it/s]
3793it [00:34, 113.66it/s]
3806it [00:34, 115.87it/s]
3821it [00:35, 120.83it/s]
3834it [00:35, 113.57it/s]
3851it [00:35, 126.78it/s]
3864it [00:35, 111.43it/s]
3877it [00:35, 113.97it/s]
3889it [00:35, 108.95it/s]
3901it [00:35, 110.93it/s]
3916it [00:35, 120.10it/s]
3929it [00:36, 113.16it/s]
3942it [00:36, 115.76it/s]
3955it [00:36, 117.25it/s]
3967it [00:36, 109.58it/s]
3979it [00:36, 110.12it/s]
3991it [00:36, 100.38it/s]
4003it [00:36, 101.69it/s]
4018it [00:36, 114.16it/s]
4030it [00:36, 115.43it/s]
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Track data saved to /working/d5b6ab98-7f60-4106-a1a7-cb1ca80068ea/processing/data/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/d5b6ab98-7f60-4106-a1a7-cb1ca80068ea/processing/data/laser_aligned.ptd.cbor