=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.9
Input file:  /working/8e2fdd1e-1242-40c5-8b9f-cec9a826c37b/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 -=-=-=-=-=-=-
2025-12-21T18:57:16 - INFO:  Reading sonar track took 0.748755693435669 sec!
2025-12-21T18:57:16 - INFO:  Reading sonar alignment track took {0.0006549358367919922} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  2%|▏         | 3/200 [00:00<00:08, 23.60it/s]
  3%|▎         | 6/200 [00:00<00:08, 21.65it/s]
  4%|▍         | 9/200 [00:00<00:09, 20.59it/s]
  6%|▌         | 12/200 [00:00<00:08, 21.90it/s]
  8%|▊         | 15/200 [00:00<00:08, 21.56it/s]
  9%|▉         | 18/200 [00:00<00:08, 22.72it/s]
 10%|█         | 21/200 [00:00<00:07, 24.05it/s]
 12%|█▏        | 24/200 [00:01<00:07, 23.77it/s]
 14%|█▎        | 27/200 [00:01<00:07, 24.69it/s]
 15%|█▌        | 30/200 [00:01<00:06, 25.73it/s]
 16%|█▋        | 33/200 [00:01<00:06, 25.89it/s]
 18%|█▊        | 36/200 [00:01<00:06, 23.85it/s]
 20%|█▉        | 39/200 [00:01<00:06, 23.51it/s]
 21%|██        | 42/200 [00:01<00:06, 23.50it/s]
 22%|██▎       | 45/200 [00:01<00:07, 21.82it/s]
 24%|██▍       | 48/200 [00:02<00:06, 22.19it/s]
 26%|██▌       | 51/200 [00:02<00:06, 22.21it/s]
 27%|██▋       | 54/200 [00:02<00:06, 22.37it/s]
 28%|██▊       | 57/200 [00:02<00:05, 24.08it/s]
 30%|███       | 60/200 [00:02<00:05, 23.64it/s]
 32%|███▏      | 63/200 [00:02<00:05, 24.87it/s]
 33%|███▎      | 66/200 [00:02<00:05, 24.57it/s]
 34%|███▍      | 69/200 [00:02<00:05, 25.15it/s]
 36%|███▌      | 72/200 [00:03<00:04, 26.15it/s]
 38%|███▊      | 76/200 [00:03<00:04, 27.51it/s]
 40%|███▉      | 79/200 [00:03<00:04, 27.48it/s]
 41%|████      | 82/200 [00:03<00:04, 26.94it/s]
 43%|████▎     | 86/200 [00:03<00:03, 28.85it/s]
 44%|████▍     | 89/200 [00:03<00:04, 26.83it/s]
 46%|████▋     | 93/200 [00:03<00:03, 27.94it/s]
 48%|████▊     | 96/200 [00:03<00:03, 26.50it/s]
 50%|████▉     | 99/200 [00:04<00:03, 26.98it/s]
 51%|█████     | 102/200 [00:04<00:03, 25.15it/s]
 52%|█████▎    | 105/200 [00:04<00:03, 25.50it/s]
 55%|█████▍    | 109/200 [00:04<00:03, 26.40it/s]
 56%|█████▌    | 112/200 [00:04<00:03, 26.89it/s]
 57%|█████▊    | 115/200 [00:04<00:03, 26.80it/s]
 59%|█████▉    | 118/200 [00:04<00:02, 27.41it/s]
 61%|██████    | 122/200 [00:04<00:02, 27.30it/s]
 62%|██████▎   | 125/200 [00:04<00:02, 26.52it/s]
 64%|██████▍   | 128/200 [00:05<00:02, 25.99it/s]
 66%|██████▌   | 131/200 [00:05<00:02, 24.38it/s]
 67%|██████▋   | 134/200 [00:05<00:02, 24.45it/s]
 68%|██████▊   | 137/200 [00:05<00:02, 25.10it/s]
 70%|███████   | 140/200 [00:05<00:02, 25.45it/s]
 72%|███████▏  | 143/200 [00:05<00:02, 24.51it/s]
 73%|███████▎  | 146/200 [00:05<00:02, 24.48it/s]
 74%|███████▍  | 149/200 [00:05<00:02, 25.12it/s]
 76%|███████▌  | 152/200 [00:06<00:01, 24.88it/s]
 78%|███████▊  | 155/200 [00:06<00:01, 24.58it/s]
 79%|███████▉  | 158/200 [00:06<00:01, 22.51it/s]
 80%|████████  | 161/200 [00:06<00:01, 22.06it/s]
 82%|████████▎ | 165/200 [00:06<00:01, 24.90it/s]
 84%|████████▍ | 168/200 [00:06<00:01, 24.33it/s]
 86%|████████▌ | 171/200 [00:06<00:01, 24.68it/s]
 88%|████████▊ | 175/200 [00:07<00:00, 26.23it/s]
 89%|████████▉ | 178/200 [00:07<00:00, 25.75it/s]
 90%|█████████ | 181/200 [00:07<00:00, 23.07it/s]
 92%|█████████▏| 184/200 [00:07<00:00, 22.96it/s]
 94%|█████████▎| 187/200 [00:07<00:00, 22.82it/s]
 95%|█████████▌| 190/200 [00:07<00:00, 23.22it/s]
 96%|█████████▋| 193/200 [00:07<00:00, 23.41it/s]
 98%|█████████▊| 196/200 [00:07<00:00, 22.51it/s]
100%|█████████▉| 199/200 [00:08<00:00, 23.40it/s]
100%|██████████| 200/200 [00:08<00:00, 24.61it/s]
 Median Scale of 200 frame found to be: 0.8970465885089582
 Fit to reference shape: 

0it [00:00, ?it/s]
8it [00:00, 78.96it/s]
18it [00:00, 86.75it/s]
27it [00:00, 87.22it/s]
36it [00:00, 82.77it/s]
45it [00:00, 83.27it/s]
54it [00:00, 83.14it/s]
63it [00:00, 85.05it/s]
72it [00:00, 83.07it/s]
83it [00:00, 88.50it/s]
92it [00:01, 84.40it/s]
101it [00:01, 78.65it/s]
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130it [00:01, 84.68it/s]
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149it [00:01, 87.97it/s]
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167it [00:01, 81.89it/s]
178it [00:02, 87.42it/s]
187it [00:02, 86.20it/s]
196it [00:02, 86.90it/s]
206it [00:02, 89.00it/s]
217it [00:02, 93.05it/s]
227it [00:02, 84.93it/s]
237it [00:02, 86.71it/s]
247it [00:02, 88.80it/s]
256it [00:02, 87.80it/s]
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274it [00:03, 86.87it/s]
283it [00:03, 86.95it/s]
292it [00:03, 84.67it/s]
301it [00:03, 82.70it/s]
310it [00:03, 83.40it/s]
319it [00:03, 81.19it/s]
328it [00:03, 78.02it/s]
337it [00:03, 81.03it/s]
348it [00:04, 89.07it/s]
358it [00:04, 84.97it/s]
367it [00:04, 83.12it/s]
378it [00:04, 89.53it/s]
388it [00:04, 88.87it/s]
398it [00:04, 90.88it/s]
408it [00:04, 92.58it/s]
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429it [00:04, 93.37it/s]
439it [00:05, 87.40it/s]
451it [00:05, 95.19it/s]
461it [00:05, 92.24it/s]
471it [00:05, 89.61it/s]
481it [00:05, 91.64it/s]
491it [00:05, 91.96it/s]
501it [00:05, 90.52it/s]
512it [00:05, 94.10it/s]
523it [00:05, 96.96it/s]
535it [00:06, 103.13it/s]
547it [00:06, 107.82it/s]
558it [00:06, 108.31it/s]
569it [00:06, 107.50it/s]
580it [00:06, 101.85it/s]
591it [00:06, 103.08it/s]
602it [00:06, 99.17it/s] 
614it [00:06, 103.33it/s]
625it [00:06, 103.12it/s]
636it [00:07, 96.06it/s] 
646it [00:07, 93.52it/s]
657it [00:07, 97.62it/s]
667it [00:07, 95.50it/s]
679it [00:07, 101.83it/s]
691it [00:07, 105.27it/s]
702it [00:07, 104.75it/s]
713it [00:07, 105.54it/s]
724it [00:07, 95.49it/s] 
734it [00:08, 96.58it/s]
745it [00:08, 98.95it/s]
756it [00:08, 98.56it/s]
766it [00:08, 82.15it/s]
778it [00:08, 86.79it/s]
789it [00:08, 92.61it/s]
799it [00:08, 93.55it/s]
809it [00:08, 93.46it/s]
820it [00:08, 98.02it/s]
831it [00:09, 101.34it/s]
842it [00:09, 100.45it/s]
853it [00:09, 97.54it/s] 
864it [00:09, 100.72it/s]
875it [00:09, 100.19it/s]
886it [00:09, 98.16it/s] 
896it [00:09, 96.98it/s]
908it [00:09, 101.26it/s]
919it [00:09, 98.42it/s] 
929it [00:10, 97.13it/s]
939it [00:10, 97.88it/s]
952it [00:10, 104.67it/s]
963it [00:10, 105.82it/s]
975it [00:10, 108.59it/s]
986it [00:10, 106.86it/s]
998it [00:10, 110.08it/s]
1010it [00:10, 107.87it/s]
1022it [00:10, 110.63it/s]
1035it [00:11, 113.52it/s]
1047it [00:11, 107.21it/s]
1058it [00:11, 106.21it/s]
1069it [00:11, 99.70it/s] 
1080it [00:11, 90.41it/s]
1091it [00:11, 93.87it/s]
1101it [00:11, 90.95it/s]
1111it [00:11, 93.11it/s]
1121it [00:11, 94.86it/s]
1131it [00:12, 87.79it/s]
1140it [00:12, 85.01it/s]
1149it [00:12, 76.86it/s]
1157it [00:12, 75.29it/s]
1166it [00:12, 79.06it/s]
1175it [00:12, 76.76it/s]
1185it [00:12, 82.01it/s]
1194it [00:12, 80.38it/s]
1203it [00:13, 73.41it/s]
1212it [00:13, 76.25it/s]
1222it [00:13, 80.05it/s]
1231it [00:13, 78.00it/s]
1239it [00:13, 77.70it/s]
1248it [00:13, 80.37it/s]
1257it [00:13, 76.10it/s]
1266it [00:13, 77.71it/s]
1274it [00:13, 75.55it/s]
1285it [00:14, 82.42it/s]
1295it [00:14, 84.25it/s]
1304it [00:14, 82.67it/s]
1314it [00:14, 85.92it/s]
1323it [00:14, 85.86it/s]
1332it [00:14, 82.72it/s]
1341it [00:14, 82.44it/s]
1351it [00:14, 87.13it/s]
1360it [00:14, 81.15it/s]
1369it [00:15, 79.52it/s]
1379it [00:15, 84.54it/s]
1388it [00:15, 85.30it/s]
1397it [00:15, 78.72it/s]
1406it [00:15, 78.39it/s]
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1425it [00:15, 85.13it/s]
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1445it [00:15, 92.33it/s]
1455it [00:16, 89.38it/s]
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1474it [00:16, 82.88it/s]
1484it [00:16, 86.20it/s]
1493it [00:16, 84.61it/s]
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1511it [00:16, 85.01it/s]
1520it [00:16, 86.32it/s]
1531it [00:16, 91.62it/s]
1541it [00:17, 92.78it/s]
1551it [00:17, 90.78it/s]
1561it [00:17, 86.30it/s]
1570it [00:17, 80.99it/s]
1579it [00:17, 78.54it/s]
1587it [00:17, 77.64it/s]
1595it [00:17, 75.88it/s]
1603it [00:17, 73.84it/s]
1611it [00:18, 75.12it/s]
1619it [00:18, 72.26it/s]
1627it [00:18, 71.29it/s]
1638it [00:18, 79.96it/s]
1649it [00:18, 87.96it/s]
1658it [00:18, 88.37it/s]
1668it [00:18, 91.58it/s]
1681it [00:18, 101.87it/s]
1692it [00:18, 103.88it/s]
1703it [00:18, 96.92it/s] 
1713it [00:19, 94.94it/s]
1724it [00:19, 97.15it/s]
1735it [00:19, 98.77it/s]
1745it [00:19, 95.16it/s]
1755it [00:19, 90.41it/s]
1765it [00:19, 89.45it/s]
1774it [00:19, 87.08it/s]
1784it [00:19, 89.15it/s]
1793it [00:20, 83.83it/s]
1802it [00:20, 80.69it/s]
1811it [00:20, 82.03it/s]
1821it [00:20, 85.15it/s]
1831it [00:20, 85.80it/s]
1840it [00:20, 82.63it/s]
1851it [00:20, 88.19it/s]
1860it [00:20, 86.44it/s]
1869it [00:20, 84.77it/s]
1878it [00:21, 85.47it/s]
1887it [00:21, 86.19it/s]
1897it [00:21, 88.56it/s]
1906it [00:21, 81.87it/s]
1916it [00:21, 84.38it/s]
1925it [00:21, 81.63it/s]
1935it [00:21, 84.89it/s]
1944it [00:21, 85.47it/s]
1954it [00:21, 87.71it/s]
1963it [00:22, 85.54it/s]
1972it [00:22, 86.09it/s]
1983it [00:22, 91.25it/s]
1993it [00:22, 88.61it/s]
2002it [00:22, 88.35it/s]
2013it [00:22, 92.41it/s]
2023it [00:22, 93.16it/s]
2033it [00:22, 87.79it/s]
2043it [00:22, 90.03it/s]
2054it [00:22, 93.47it/s]
2064it [00:23, 91.68it/s]
2074it [00:23, 91.21it/s]
2084it [00:23, 89.59it/s]
2093it [00:23, 88.37it/s]
2102it [00:23, 84.80it/s]
2111it [00:23, 84.26it/s]
2120it [00:23, 81.23it/s]
2129it [00:23, 81.83it/s]
2139it [00:24, 83.03it/s]
2148it [00:24, 84.20it/s]
2157it [00:24, 79.12it/s]
2167it [00:24, 82.35it/s]
2177it [00:24, 85.96it/s]
2186it [00:24, 86.80it/s]
2195it [00:24, 86.66it/s]
2205it [00:24, 88.78it/s]
2216it [00:24, 93.10it/s]
2226it [00:24, 92.11it/s]
2236it [00:25, 87.76it/s]
2246it [00:25, 89.50it/s]
2256it [00:25, 91.49it/s]
2266it [00:25, 89.42it/s]
2275it [00:25, 88.85it/s]
2286it [00:25, 92.02it/s]
2296it [00:25, 92.31it/s]
2306it [00:25, 91.41it/s]
2316it [00:25, 89.69it/s]
2325it [00:26, 86.60it/s]
2335it [00:26, 89.25it/s]
2345it [00:26, 86.63it/s]
2354it [00:26, 84.41it/s]
2363it [00:26, 82.21it/s]
2372it [00:26, 83.58it/s]
2382it [00:26, 82.50it/s]
2391it [00:26, 81.87it/s]
2401it [00:27, 85.10it/s]
2410it [00:27, 83.94it/s]
2420it [00:27, 87.97it/s]
2429it [00:27, 85.37it/s]
2438it [00:27, 85.09it/s]
2447it [00:27, 79.22it/s]
2456it [00:27, 79.19it/s]
2465it [00:27, 79.83it/s]
2474it [00:27, 77.46it/s]
2484it [00:28, 82.12it/s]
2493it [00:28, 80.54it/s]
2502it [00:28, 80.32it/s]
2513it [00:28, 86.12it/s]
2522it [00:28, 85.31it/s]
2531it [00:28, 83.54it/s]
2540it [00:28, 83.46it/s]
2550it [00:28, 85.49it/s]
2559it [00:28, 79.04it/s]
2568it [00:29, 81.88it/s]
2578it [00:29, 85.28it/s]
2588it [00:29, 86.65it/s]
2598it [00:29, 86.81it/s]
2608it [00:29, 88.63it/s]
2617it [00:29, 87.19it/s]
2626it [00:29, 87.98it/s]
2637it [00:29, 93.14it/s]
2648it [00:29, 97.55it/s]
2659it [00:30, 99.63it/s]
2669it [00:30, 93.06it/s]
2681it [00:30, 99.01it/s]
2691it [00:30, 95.87it/s]
2701it [00:30, 95.47it/s]
2711it [00:30, 91.71it/s]
2721it [00:30, 91.54it/s]
2732it [00:30, 94.40it/s]
2742it [00:30, 93.89it/s]
2754it [00:31, 97.85it/s]
2764it [00:31, 89.87it/s]
2774it [00:31, 89.77it/s]
2785it [00:31, 94.54it/s]
2795it [00:31, 94.80it/s]
2806it [00:31, 98.17it/s]
2816it [00:31, 98.32it/s]
2828it [00:31, 98.33it/s]
2839it [00:31, 99.63it/s]
2851it [00:32, 102.96it/s]
2863it [00:32, 106.41it/s]
2874it [00:32, 100.31it/s]
2885it [00:32, 91.13it/s] 
2895it [00:32, 86.45it/s]
2904it [00:32, 86.11it/s]
2913it [00:32, 83.44it/s]
2923it [00:32, 86.70it/s]
2934it [00:32, 90.70it/s]
2944it [00:33, 91.41it/s]
2954it [00:33, 91.69it/s]
2966it [00:33, 98.39it/s]
2978it [00:33, 102.85it/s]
2990it [00:33, 105.76it/s]
3001it [00:33, 106.26it/s]
3012it [00:33, 102.49it/s]
3024it [00:33, 106.65it/s]
3036it [00:33, 107.69it/s]
3047it [00:34, 100.76it/s]
3058it [00:34, 101.99it/s]
3070it [00:34, 106.03it/s]
3081it [00:34, 103.30it/s]
3092it [00:34, 104.54it/s]
3103it [00:34, 99.73it/s] 
3114it [00:34, 101.71it/s]
3125it [00:34, 100.36it/s]
3137it [00:34, 105.03it/s]
3148it [00:35, 103.93it/s]
3159it [00:35, 95.71it/s] 
3169it [00:35, 93.01it/s]
3179it [00:35, 94.48it/s]
3189it [00:35, 92.78it/s]
3199it [00:35, 93.34it/s]
3209it [00:35, 83.37it/s]
3218it [00:35, 78.97it/s]
3227it [00:35, 81.56it/s]
3237it [00:36, 85.52it/s]
3247it [00:36, 86.35it/s]
3256it [00:36, 81.98it/s]
3265it [00:36, 84.12it/s]
3275it [00:36, 88.10it/s]
3285it [00:36, 89.13it/s]
3296it [00:36, 94.59it/s]
3306it [00:36, 91.45it/s]
3316it [00:36, 93.33it/s]
3328it [00:37, 100.91it/s]
3340it [00:37, 104.82it/s]
3351it [00:37, 104.43it/s]
3365it [00:37, 113.58it/s]
3377it [00:37, 112.40it/s]
3389it [00:37, 113.94it/s]
3401it [00:37, 114.61it/s]
3414it [00:37, 114.57it/s]
3426it [00:37, 115.44it/s]
3438it [00:38, 104.26it/s]
3450it [00:38, 107.97it/s]
3461it [00:38, 107.44it/s]
3472it [00:38, 99.94it/s] 
3483it [00:38, 101.62it/s]
3494it [00:38, 101.45it/s]
3505it [00:38, 100.01it/s]
3516it [00:38, 100.14it/s]
3528it [00:38, 104.03it/s]
3539it [00:39, 104.16it/s]
3550it [00:39, 102.57it/s]
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Track data saved to /working/8e2fdd1e-1242-40c5-8b9f-cec9a826c37b/processing/data/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/8e2fdd1e-1242-40c5-8b9f-cec9a826c37b/processing/data/laser_aligned.ptd.cbor