=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.9
Input file:  /working/7787a167-7100-4478-8157-775edc96786f/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 -=-=-=-=-=-=-
2025-12-22T00:59:43 - INFO:  Reading sonar track took 0.34630703926086426 sec!
2025-12-22T00:59:43 - INFO:  Reading sonar alignment track took {0.0007069110870361328} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  2%|▏         | 4/200 [00:00<00:05, 33.15it/s]
  4%|▍         | 8/200 [00:00<00:06, 28.09it/s]
  6%|▌         | 11/200 [00:00<00:06, 27.24it/s]
  7%|▋         | 14/200 [00:00<00:07, 24.15it/s]
  8%|▊         | 17/200 [00:00<00:07, 25.27it/s]
 10%|█         | 20/200 [00:00<00:07, 24.20it/s]
 12%|█▏        | 23/200 [00:00<00:07, 24.63it/s]
 13%|█▎        | 26/200 [00:01<00:06, 26.05it/s]
 14%|█▍        | 29/200 [00:01<00:06, 25.92it/s]
 16%|█▌        | 32/200 [00:01<00:06, 24.51it/s]
 18%|█▊        | 35/200 [00:01<00:06, 25.74it/s]
 19%|█▉        | 38/200 [00:01<00:07, 22.58it/s]
 20%|██        | 41/200 [00:01<00:07, 22.65it/s]
 22%|██▏       | 44/200 [00:01<00:07, 22.03it/s]
 24%|██▎       | 47/200 [00:01<00:06, 22.13it/s]
 25%|██▌       | 50/200 [00:02<00:06, 23.94it/s]
 27%|██▋       | 54/200 [00:02<00:05, 25.63it/s]
 29%|██▉       | 58/200 [00:02<00:05, 25.01it/s]
 30%|███       | 61/200 [00:02<00:05, 25.29it/s]
 32%|███▏      | 64/200 [00:02<00:05, 24.70it/s]
 34%|███▍      | 68/200 [00:02<00:04, 27.27it/s]
 36%|███▌      | 71/200 [00:02<00:05, 25.60it/s]
 37%|███▋      | 74/200 [00:02<00:04, 25.48it/s]
 38%|███▊      | 77/200 [00:03<00:04, 25.51it/s]
 40%|████      | 80/200 [00:03<00:04, 24.02it/s]
 42%|████▏     | 83/200 [00:03<00:05, 22.81it/s]
 43%|████▎     | 86/200 [00:03<00:05, 22.68it/s]
 44%|████▍     | 89/200 [00:03<00:04, 22.83it/s]
 46%|████▌     | 92/200 [00:03<00:04, 23.00it/s]
 48%|████▊     | 95/200 [00:03<00:04, 23.83it/s]
 49%|████▉     | 98/200 [00:04<00:04, 23.46it/s]
 50%|█████     | 101/200 [00:04<00:04, 23.64it/s]
 52%|█████▏    | 104/200 [00:04<00:04, 22.55it/s]
 54%|█████▎    | 107/200 [00:04<00:04, 22.56it/s]
 55%|█████▌    | 110/200 [00:04<00:03, 23.80it/s]
 56%|█████▋    | 113/200 [00:04<00:03, 25.14it/s]
 58%|█████▊    | 116/200 [00:04<00:03, 26.34it/s]
 60%|█████▉    | 119/200 [00:04<00:02, 27.01it/s]
 61%|██████    | 122/200 [00:04<00:02, 27.18it/s]
 62%|██████▎   | 125/200 [00:05<00:02, 27.22it/s]
 64%|██████▍   | 128/200 [00:05<00:02, 27.02it/s]
 66%|██████▌   | 131/200 [00:05<00:02, 26.18it/s]
 68%|██████▊   | 135/200 [00:05<00:02, 27.66it/s]
 69%|██████▉   | 138/200 [00:05<00:02, 27.76it/s]
 70%|███████   | 141/200 [00:05<00:02, 27.70it/s]
 72%|███████▏  | 144/200 [00:05<00:02, 27.86it/s]
 74%|███████▍  | 148/200 [00:05<00:01, 29.02it/s]
 76%|███████▌  | 151/200 [00:05<00:01, 29.18it/s]
 77%|███████▋  | 154/200 [00:06<00:01, 27.88it/s]
 78%|███████▊  | 157/200 [00:06<00:01, 26.79it/s]
 80%|████████  | 161/200 [00:06<00:01, 28.45it/s]
 82%|████████▏ | 164/200 [00:06<00:01, 26.38it/s]
 84%|████████▎ | 167/200 [00:06<00:01, 26.61it/s]
 85%|████████▌ | 170/200 [00:06<00:01, 27.02it/s]
 86%|████████▋ | 173/200 [00:06<00:01, 26.62it/s]
 88%|████████▊ | 176/200 [00:06<00:00, 27.45it/s]
 90%|████████▉ | 179/200 [00:07<00:00, 25.71it/s]
 91%|█████████ | 182/200 [00:07<00:00, 26.60it/s]
 92%|█████████▎| 185/200 [00:07<00:00, 25.76it/s]
 94%|█████████▍| 189/200 [00:07<00:00, 27.79it/s]
 96%|█████████▌| 192/200 [00:07<00:00, 26.75it/s]
 98%|█████████▊| 195/200 [00:07<00:00, 24.34it/s]
 99%|█████████▉| 198/200 [00:07<00:00, 25.17it/s]
100%|██████████| 200/200 [00:07<00:00, 25.44it/s]
 Median Scale of 200 frame found to be: 0.9036262314823147
 Fit to reference shape: 

0it [00:00, ?it/s]
6it [00:00, 59.20it/s]
15it [00:00, 76.53it/s]
23it [00:00, 77.45it/s]
32it [00:00, 81.12it/s]
42it [00:00, 79.22it/s]
50it [00:00, 79.31it/s]
60it [00:00, 84.42it/s]
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126it [00:01, 90.61it/s]
137it [00:01, 94.53it/s]
147it [00:01, 92.52it/s]
159it [00:01, 98.30it/s]
170it [00:01, 99.93it/s]
181it [00:02, 99.51it/s]
192it [00:02, 99.36it/s]
203it [00:02, 101.06it/s]
214it [00:02, 102.52it/s]
226it [00:02, 106.27it/s]
237it [00:02, 106.45it/s]
248it [00:02, 101.74it/s]
259it [00:02, 104.02it/s]
270it [00:02, 100.35it/s]
281it [00:03, 99.20it/s] 
291it [00:03, 94.15it/s]
302it [00:03, 94.64it/s]
312it [00:03, 95.89it/s]
323it [00:03, 99.34it/s]
335it [00:03, 104.01it/s]
346it [00:03, 102.82it/s]
357it [00:03, 96.74it/s] 
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389it [00:04, 100.67it/s]
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433it [00:04, 96.83it/s] 
445it [00:04, 102.07it/s]
457it [00:04, 105.11it/s]
469it [00:04, 109.25it/s]
480it [00:04, 107.20it/s]
491it [00:05, 104.91it/s]
502it [00:05, 100.02it/s]
513it [00:05, 102.58it/s]
524it [00:05, 103.77it/s]
535it [00:05, 102.28it/s]
546it [00:05, 98.58it/s] 
557it [00:05, 101.29it/s]
568it [00:05, 98.06it/s] 
579it [00:05, 101.18it/s]
590it [00:06, 101.97it/s]
601it [00:06, 96.92it/s] 
611it [00:06, 97.36it/s]
623it [00:06, 101.59it/s]
634it [00:06, 101.56it/s]
645it [00:06, 100.51it/s]
656it [00:06, 99.87it/s] 
668it [00:06, 103.25it/s]
682it [00:06, 111.63it/s]
696it [00:07, 117.81it/s]
709it [00:07, 118.64it/s]
721it [00:07, 112.08it/s]
733it [00:07, 109.62it/s]
746it [00:07, 113.94it/s]
759it [00:07, 116.15it/s]
771it [00:07, 114.08it/s]
783it [00:07, 115.05it/s]
797it [00:07, 120.57it/s]
810it [00:08, 120.34it/s]
823it [00:08, 119.14it/s]
835it [00:08, 118.68it/s]
847it [00:08, 109.28it/s]
860it [00:08, 113.16it/s]
872it [00:08, 113.92it/s]
885it [00:08, 116.67it/s]
897it [00:08, 117.57it/s]
910it [00:08, 119.10it/s]
922it [00:09, 118.06it/s]
935it [00:09, 120.43it/s]
948it [00:09, 121.31it/s]
961it [00:09, 121.64it/s]
974it [00:09, 116.19it/s]
986it [00:09, 111.45it/s]
998it [00:09, 109.56it/s]
1010it [00:09, 109.05it/s]
1021it [00:09, 104.96it/s]
1032it [00:10, 103.72it/s]
1043it [00:10, 102.85it/s]
1054it [00:10, 103.26it/s]
1066it [00:10, 105.78it/s]
1078it [00:10, 109.47it/s]
1090it [00:10, 111.05it/s]
1102it [00:10, 113.43it/s]
1115it [00:10, 115.92it/s]
1127it [00:10, 116.27it/s]
1139it [00:10, 110.55it/s]
1151it [00:11, 105.33it/s]
1163it [00:11, 105.04it/s]
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1197it [00:11, 108.18it/s]
1208it [00:11, 99.84it/s] 
1219it [00:11, 99.84it/s]
1231it [00:11, 103.99it/s]
1242it [00:12, 103.75it/s]
1253it [00:12, 103.75it/s]
1265it [00:12, 107.31it/s]
1278it [00:12, 109.77it/s]
1289it [00:12, 106.06it/s]
1300it [00:12, 106.44it/s]
1313it [00:12, 112.76it/s]
1325it [00:12, 113.07it/s]
1337it [00:12, 115.04it/s]
1349it [00:12, 116.01it/s]
1361it [00:13, 115.96it/s]
1373it [00:13, 114.34it/s]
1385it [00:13, 113.55it/s]
1398it [00:13, 115.77it/s]
1410it [00:13, 115.92it/s]
1422it [00:13, 114.70it/s]
1434it [00:13, 110.38it/s]
1446it [00:13, 110.35it/s]
1458it [00:13, 111.02it/s]
1470it [00:14, 112.35it/s]
1483it [00:14, 114.38it/s]
1495it [00:14, 114.54it/s]
1507it [00:14, 113.36it/s]
1519it [00:14, 114.89it/s]
1532it [00:14, 116.52it/s]
1544it [00:14, 116.13it/s]
1557it [00:14, 117.87it/s]
1569it [00:14, 114.54it/s]
1581it [00:14, 115.22it/s]
1593it [00:15, 114.27it/s]
1605it [00:15, 111.83it/s]
1617it [00:15, 108.70it/s]
1628it [00:15, 108.56it/s]
1641it [00:15, 113.17it/s]
1653it [00:15, 112.38it/s]
1665it [00:15, 111.61it/s]
1677it [00:15, 111.56it/s]
1689it [00:15, 108.66it/s]
1701it [00:16, 111.53it/s]
1714it [00:16, 116.75it/s]
1726it [00:16, 115.54it/s]
1738it [00:16, 116.43it/s]
1750it [00:16, 114.28it/s]
1762it [00:16, 110.93it/s]
1774it [00:16, 113.16it/s]
1786it [00:16, 114.11it/s]
1799it [00:16, 117.13it/s]
1813it [00:17, 121.48it/s]
1826it [00:17, 121.89it/s]
1839it [00:17, 121.04it/s]
1852it [00:17, 122.14it/s]
1865it [00:17, 119.66it/s]
1877it [00:17, 115.47it/s]
1889it [00:17, 110.33it/s]
1901it [00:17, 102.62it/s]
1914it [00:17, 107.90it/s]
1927it [00:18, 113.54it/s]
1940it [00:18, 116.57it/s]
1952it [00:18, 113.72it/s]
1964it [00:18, 110.71it/s]
1976it [00:18, 106.18it/s]
1987it [00:18, 105.20it/s]
2000it [00:18, 109.46it/s]
2011it [00:18, 109.45it/s]
2022it [00:18, 103.90it/s]
2033it [00:19, 100.22it/s]
2044it [00:19, 100.28it/s]
2056it [00:19, 105.45it/s]
2067it [00:19, 104.35it/s]
2078it [00:19, 105.75it/s]
2089it [00:19, 106.18it/s]
2101it [00:19, 108.11it/s]
2113it [00:19, 111.14it/s]
2125it [00:19, 106.61it/s]
2136it [00:20, 100.37it/s]
2147it [00:20, 97.62it/s] 
2157it [00:20, 90.08it/s]
2167it [00:20, 87.04it/s]
2179it [00:20, 94.41it/s]
2191it [00:20, 100.56it/s]
2202it [00:20, 97.90it/s] 
2215it [00:20, 104.07it/s]
2226it [00:20, 105.03it/s]
2237it [00:21, 101.93it/s]
2250it [00:21, 107.43it/s]
2261it [00:21, 107.83it/s]
2272it [00:21, 106.34it/s]
2283it [00:21, 105.63it/s]
2296it [00:21, 110.85it/s]
2308it [00:21, 103.63it/s]
2320it [00:21, 106.66it/s]
2332it [00:21, 109.69it/s]
2344it [00:22, 109.24it/s]
2357it [00:22, 114.37it/s]
2369it [00:22, 112.60it/s]
2382it [00:22, 115.42it/s]
2395it [00:22, 117.54it/s]
2409it [00:22, 121.20it/s]
2422it [00:22, 112.49it/s]
2434it [00:22, 109.80it/s]
2446it [00:22, 108.60it/s]
2457it [00:23, 103.94it/s]
2468it [00:23, 96.87it/s] 
2478it [00:23, 91.99it/s]
2488it [00:23, 89.70it/s]
2500it [00:23, 96.47it/s]
2511it [00:23, 98.46it/s]
2521it [00:23, 96.92it/s]
2533it [00:23, 103.11it/s]
2544it [00:23, 104.59it/s]
2555it [00:24, 105.59it/s]
2566it [00:24, 102.09it/s]
2577it [00:24, 99.65it/s] 
2588it [00:24, 97.39it/s]
2598it [00:24, 97.16it/s]
2610it [00:24, 102.23it/s]
2622it [00:24, 107.20it/s]
2634it [00:24, 110.66it/s]
2646it [00:24, 107.44it/s]
2657it [00:25, 105.97it/s]
2668it [00:25, 104.63it/s]
2679it [00:25, 102.40it/s]
2690it [00:25, 100.03it/s]
2701it [00:25, 99.24it/s] 
2713it [00:25, 100.10it/s]
2724it [00:25, 102.72it/s]
2736it [00:25, 105.80it/s]
2747it [00:25, 100.73it/s]
2759it [00:26, 103.81it/s]
2770it [00:26, 103.46it/s]
2781it [00:26, 98.72it/s] 
2791it [00:26, 95.54it/s]
2802it [00:26, 98.95it/s]
2812it [00:26, 98.90it/s]
2823it [00:26, 99.50it/s]
2834it [00:26, 102.07it/s]
2847it [00:26, 109.47it/s]
2858it [00:27, 105.58it/s]
2869it [00:27, 103.48it/s]
2880it [00:27, 99.65it/s] 
2891it [00:27, 100.73it/s]
2902it [00:27, 100.81it/s]
2913it [00:27, 100.69it/s]
2924it [00:27, 98.63it/s] 
2935it [00:27, 97.42it/s]
2946it [00:27, 98.88it/s]
2957it [00:28, 100.25it/s]
2969it [00:28, 102.66it/s]
2980it [00:28, 101.74it/s]
2993it [00:28, 107.87it/s]
3006it [00:28, 111.89it/s]
3018it [00:28, 113.47it/s]
3030it [00:28, 108.81it/s]
3042it [00:28, 110.02it/s]
3054it [00:28, 108.22it/s]
3065it [00:29, 105.31it/s]
3076it [00:29, 105.56it/s]
3087it [00:29, 95.59it/s] 
3097it [00:29, 96.62it/s]
3109it [00:29, 102.75it/s]
3120it [00:29, 103.76it/s]
3131it [00:29, 97.19it/s] 
3141it [00:29, 97.33it/s]
3152it [00:29, 98.21it/s]
3162it [00:30, 92.96it/s]
3174it [00:30, 98.64it/s]
3186it [00:30, 103.44it/s]
3199it [00:30, 108.74it/s]
3210it [00:30, 107.60it/s]
3221it [00:30, 99.29it/s] 
3232it [00:30, 97.00it/s]
3244it [00:30, 101.97it/s]
3255it [00:30, 98.51it/s] 
3265it [00:31, 98.44it/s]
3276it [00:31, 99.95it/s]
3287it [00:31, 100.69it/s]
3298it [00:31, 91.71it/s] 
3308it [00:31, 93.64it/s]
3318it [00:31, 93.45it/s]
3328it [00:31, 91.11it/s]
3339it [00:31, 94.58it/s]
3352it [00:31, 102.31it/s]
3363it [00:32, 103.84it/s]
3374it [00:32, 103.81it/s]
3385it [00:32, 93.11it/s] 
3398it [00:32, 101.23it/s]
3409it [00:32, 95.01it/s] 
3422it [00:32, 99.47it/s]
3433it [00:32, 98.09it/s]
3446it [00:32, 105.80it/s]
3457it [00:32, 105.31it/s]
3468it [00:33, 104.52it/s]
3479it [00:33, 105.96it/s]
3490it [00:33, 101.88it/s]
3501it [00:33, 99.21it/s] 
3511it [00:33, 99.03it/s]
3521it [00:33, 90.84it/s]
3531it [00:33, 91.66it/s]
3542it [00:33, 91.23it/s]
3553it [00:33, 95.23it/s]
3563it [00:34, 96.45it/s]
3575it [00:34, 100.72it/s]
3587it [00:34, 102.98it/s]
3599it [00:34, 106.60it/s]
3611it [00:34, 104.39it/s]
3623it [00:34, 107.75it/s]
3634it [00:34, 106.95it/s]
3647it [00:34, 111.32it/s]
3659it [00:34, 113.67it/s]
3671it [00:35, 113.23it/s]
3684it [00:35, 115.69it/s]
3696it [00:35, 112.95it/s]
3709it [00:35, 114.76it/s]
3721it [00:35, 105.52it/s]
3734it [00:35, 110.94it/s]
3746it [00:35, 106.26it/s]
3757it [00:35, 105.24it/s]
3768it [00:35, 103.08it/s]
3779it [00:36, 104.64it/s]
3790it [00:36, 104.70it/s]
3804it [00:36, 114.21it/s]
3816it [00:36, 109.10it/s]
3829it [00:36, 110.80it/s]
3841it [00:36, 109.80it/s]
3853it [00:36, 104.62it/s]
3866it [00:36, 109.16it/s]
3877it [00:36, 107.22it/s]
3888it [00:37, 107.45it/s]
3900it [00:37, 108.83it/s]
3913it [00:37, 110.49it/s]
3925it [00:37, 109.20it/s]
3936it [00:37, 101.58it/s]
3948it [00:37, 104.86it/s]
3959it [00:37, 103.35it/s]
3970it [00:37, 94.91it/s] 
3983it [00:37, 103.92it/s]
3994it [00:38, 105.08it/s]
4006it [00:38, 107.55it/s]
4018it [00:38, 108.52it/s]
4029it [00:38, 104.75it/s]
4041it [00:38, 108.53it/s]
4054it [00:38, 111.98it/s]
4067it [00:38, 111.32it/s]
4080it [00:38, 112.10it/s]
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Track data saved to /working/7787a167-7100-4478-8157-775edc96786f/processing/data/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/7787a167-7100-4478-8157-775edc96786f/processing/data/laser_aligned.ptd.cbor