=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.9
Input file:  /working/c8a5a51d-831a-428b-b094-4e760a2be672/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 -=-=-=-=-=-=-
2025-12-22T00:59:39 - INFO:  Reading sonar track took 0.19999456405639648 sec!
2025-12-22T00:59:39 - INFO:  Reading sonar alignment track took {0.0005877017974853516} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  2%|▏         | 3/200 [00:00<00:08, 22.38it/s]
  3%|▎         | 6/200 [00:00<00:07, 25.48it/s]
  4%|▍         | 9/200 [00:00<00:08, 21.78it/s]
  6%|▌         | 12/200 [00:00<00:08, 21.87it/s]
  8%|▊         | 15/200 [00:00<00:07, 24.10it/s]
  9%|▉         | 18/200 [00:00<00:07, 23.60it/s]
 10%|█         | 21/200 [00:00<00:07, 23.37it/s]
 12%|█▏        | 24/200 [00:01<00:07, 24.42it/s]
 14%|█▎        | 27/200 [00:01<00:07, 23.71it/s]
 15%|█▌        | 30/200 [00:01<00:07, 23.13it/s]
 16%|█▋        | 33/200 [00:01<00:07, 21.88it/s]
 18%|█▊        | 36/200 [00:01<00:07, 21.48it/s]
 20%|██        | 40/200 [00:01<00:07, 22.40it/s]
 22%|██▏       | 43/200 [00:01<00:06, 22.95it/s]
 23%|██▎       | 46/200 [00:01<00:06, 23.36it/s]
 24%|██▍       | 49/200 [00:02<00:06, 24.08it/s]
 26%|██▌       | 52/200 [00:02<00:06, 23.90it/s]
 28%|██▊       | 55/200 [00:02<00:05, 25.42it/s]
 29%|██▉       | 58/200 [00:02<00:05, 24.93it/s]
 30%|███       | 61/200 [00:02<00:05, 23.66it/s]
 32%|███▏      | 64/200 [00:02<00:05, 24.47it/s]
 34%|███▎      | 67/200 [00:02<00:06, 21.59it/s]
 35%|███▌      | 70/200 [00:02<00:05, 23.44it/s]
 36%|███▋      | 73/200 [00:03<00:05, 24.31it/s]
 38%|███▊      | 76/200 [00:03<00:05, 23.26it/s]
 40%|████      | 80/200 [00:03<00:04, 25.75it/s]
 42%|████▏     | 83/200 [00:03<00:04, 25.17it/s]
 44%|████▎     | 87/200 [00:03<00:04, 24.72it/s]
 45%|████▌     | 90/200 [00:03<00:04, 24.11it/s]
 46%|████▋     | 93/200 [00:03<00:04, 25.27it/s]
 48%|████▊     | 96/200 [00:04<00:04, 23.56it/s]
 50%|████▉     | 99/200 [00:04<00:04, 23.50it/s]
 51%|█████     | 102/200 [00:04<00:04, 23.18it/s]
 53%|█████▎    | 106/200 [00:04<00:03, 25.27it/s]
 55%|█████▍    | 109/200 [00:04<00:03, 25.93it/s]
 56%|█████▌    | 112/200 [00:04<00:03, 24.20it/s]
 58%|█████▊    | 116/200 [00:04<00:03, 26.20it/s]
 60%|██████    | 120/200 [00:04<00:02, 27.80it/s]
 62%|██████▏   | 123/200 [00:05<00:02, 26.49it/s]
 63%|██████▎   | 126/200 [00:05<00:03, 23.48it/s]
 64%|██████▍   | 129/200 [00:05<00:03, 23.05it/s]
 66%|██████▌   | 132/200 [00:05<00:02, 22.91it/s]
 68%|██████▊   | 135/200 [00:05<00:02, 22.68it/s]
 69%|██████▉   | 138/200 [00:05<00:02, 23.07it/s]
 70%|███████   | 141/200 [00:05<00:02, 23.14it/s]
 72%|███████▏  | 144/200 [00:06<00:02, 24.76it/s]
 74%|███████▎  | 147/200 [00:06<00:02, 24.88it/s]
 75%|███████▌  | 150/200 [00:06<00:02, 24.78it/s]
 76%|███████▋  | 153/200 [00:06<00:01, 24.49it/s]
 78%|███████▊  | 156/200 [00:06<00:01, 25.75it/s]
 80%|███████▉  | 159/200 [00:06<00:01, 25.99it/s]
 81%|████████  | 162/200 [00:06<00:01, 26.14it/s]
 82%|████████▎ | 165/200 [00:06<00:01, 25.50it/s]
 84%|████████▍ | 168/200 [00:06<00:01, 23.65it/s]
 86%|████████▌ | 171/200 [00:07<00:01, 23.94it/s]
 87%|████████▋ | 174/200 [00:07<00:01, 23.50it/s]
 88%|████████▊ | 177/200 [00:07<00:00, 23.92it/s]
 90%|█████████ | 180/200 [00:07<00:00, 25.20it/s]
 92%|█████████▏| 183/200 [00:07<00:00, 26.26it/s]
 93%|█████████▎| 186/200 [00:07<00:00, 25.51it/s]
 94%|█████████▍| 189/200 [00:07<00:00, 26.46it/s]
 96%|█████████▌| 192/200 [00:07<00:00, 27.19it/s]
 98%|█████████▊| 195/200 [00:08<00:00, 26.04it/s]
 99%|█████████▉| 198/200 [00:08<00:00, 25.59it/s]
100%|██████████| 200/200 [00:08<00:00, 24.28it/s]
 Median Scale of 200 frame found to be: 0.8975629714553494
 Fit to reference shape: 

0it [00:00, ?it/s]
8it [00:00, 72.86it/s]
17it [00:00, 76.75it/s]
27it [00:00, 83.41it/s]
36it [00:00, 82.85it/s]
45it [00:00, 84.94it/s]
56it [00:00, 91.54it/s]
66it [00:00, 90.41it/s]
77it [00:00, 92.91it/s]
87it [00:00, 93.91it/s]
98it [00:01, 96.63it/s]
108it [00:01, 93.50it/s]
118it [00:01, 95.17it/s]
128it [00:01, 95.34it/s]
138it [00:01, 93.93it/s]
150it [00:01, 98.89it/s]
161it [00:01, 100.41it/s]
172it [00:01, 87.84it/s] 
183it [00:01, 91.69it/s]
193it [00:02, 86.20it/s]
205it [00:02, 93.12it/s]
215it [00:02, 94.11it/s]
225it [00:02, 92.09it/s]
235it [00:02, 92.11it/s]
246it [00:02, 95.16it/s]
256it [00:02, 83.72it/s]
266it [00:02, 83.15it/s]
276it [00:03, 86.74it/s]
287it [00:03, 90.06it/s]
298it [00:03, 93.93it/s]
309it [00:03, 95.08it/s]
319it [00:03, 87.02it/s]
328it [00:03, 87.09it/s]
338it [00:03, 89.81it/s]
348it [00:03, 90.87it/s]
359it [00:03, 93.99it/s]
369it [00:04, 90.78it/s]
379it [00:04, 90.90it/s]
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400it [00:04, 94.22it/s]
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431it [00:04, 92.00it/s]
441it [00:04, 84.89it/s]
451it [00:04, 86.25it/s]
461it [00:05, 87.07it/s]
471it [00:05, 88.66it/s]
480it [00:05, 84.35it/s]
490it [00:05, 86.80it/s]
500it [00:05, 88.05it/s]
510it [00:05, 90.08it/s]
520it [00:05, 90.79it/s]
530it [00:05, 92.64it/s]
540it [00:05, 94.62it/s]
550it [00:06, 92.01it/s]
560it [00:06, 87.58it/s]
569it [00:06, 82.20it/s]
579it [00:06, 85.45it/s]
588it [00:06, 85.70it/s]
597it [00:06, 79.33it/s]
607it [00:06, 77.57it/s]
615it [00:06, 72.88it/s]
624it [00:07, 76.22it/s]
635it [00:07, 83.36it/s]
644it [00:07, 76.70it/s]
653it [00:07, 79.70it/s]
664it [00:07, 83.83it/s]
673it [00:07, 84.33it/s]
682it [00:07, 85.33it/s]
691it [00:07, 83.64it/s]
700it [00:07, 83.91it/s]
709it [00:08, 85.37it/s]
719it [00:08, 88.22it/s]
729it [00:08, 90.87it/s]
739it [00:08, 87.87it/s]
748it [00:08, 88.43it/s]
757it [00:08, 86.41it/s]
767it [00:08, 87.99it/s]
776it [00:08, 86.14it/s]
786it [00:08, 87.69it/s]
796it [00:09, 90.53it/s]
806it [00:09, 92.18it/s]
817it [00:09, 93.33it/s]
827it [00:09, 88.76it/s]
836it [00:09, 87.17it/s]
846it [00:09, 89.34it/s]
855it [00:09, 85.39it/s]
864it [00:09, 85.69it/s]
873it [00:09, 84.63it/s]
882it [00:10, 84.56it/s]
892it [00:10, 87.30it/s]
901it [00:10, 84.07it/s]
911it [00:10, 86.52it/s]
921it [00:10, 89.65it/s]
931it [00:10, 92.54it/s]
942it [00:10, 95.36it/s]
952it [00:10, 96.15it/s]
962it [00:10, 94.28it/s]
972it [00:10, 93.03it/s]
982it [00:11, 90.17it/s]
992it [00:11, 88.94it/s]
1003it [00:11, 89.47it/s]
1015it [00:11, 93.46it/s]
1025it [00:11, 94.34it/s]
1037it [00:11, 99.71it/s]
1048it [00:11, 100.04it/s]
1059it [00:11, 97.08it/s] 
1070it [00:11, 100.28it/s]
1081it [00:12, 96.50it/s] 
1091it [00:12, 93.22it/s]
1101it [00:12, 94.25it/s]
1112it [00:12, 97.85it/s]
1123it [00:12, 100.63it/s]
1134it [00:12, 95.17it/s] 
1146it [00:12, 99.91it/s]
1158it [00:12, 103.07it/s]
1169it [00:12, 104.84it/s]
1180it [00:13, 103.37it/s]
1192it [00:13, 106.80it/s]
1204it [00:13, 108.09it/s]
1215it [00:13, 102.55it/s]
1226it [00:13, 100.16it/s]
1237it [00:13, 100.95it/s]
1248it [00:13, 99.38it/s] 
1259it [00:13, 101.94it/s]
1271it [00:13, 105.75it/s]
1282it [00:14, 105.85it/s]
1294it [00:14, 107.70it/s]
1305it [00:14, 108.15it/s]
1316it [00:14, 106.70it/s]
1327it [00:14, 102.10it/s]
1339it [00:14, 105.76it/s]
1351it [00:14, 108.11it/s]
1362it [00:14, 105.11it/s]
1373it [00:14, 98.17it/s] 
1386it [00:15, 105.35it/s]
1398it [00:15, 107.81it/s]
1409it [00:15, 97.84it/s] 
1423it [00:15, 106.74it/s]
1435it [00:15, 110.27it/s]
1449it [00:15, 116.61it/s]
1461it [00:15, 107.65it/s]
1473it [00:15, 110.27it/s]
1485it [00:15, 102.33it/s]
1496it [00:16, 103.91it/s]
1507it [00:16, 100.70it/s]
1519it [00:16, 105.01it/s]
1530it [00:16, 99.76it/s] 
1541it [00:16, 100.91it/s]
1552it [00:16, 98.96it/s] 
1562it [00:16, 96.53it/s]
1572it [00:16, 94.66it/s]
1584it [00:16, 100.12it/s]
1595it [00:17, 95.27it/s] 
1607it [00:17, 100.05it/s]
1620it [00:17, 107.22it/s]
1633it [00:17, 112.70it/s]
1645it [00:17, 106.34it/s]
1657it [00:17, 108.81it/s]
1668it [00:17, 106.92it/s]
1681it [00:17, 112.63it/s]
1693it [00:18, 104.31it/s]
1704it [00:18, 104.97it/s]
1715it [00:18, 99.20it/s] 
1726it [00:18, 101.26it/s]
1737it [00:18, 100.61it/s]
1748it [00:18, 97.47it/s] 
1758it [00:18, 85.57it/s]
1769it [00:18, 89.60it/s]
1779it [00:18, 88.82it/s]
1789it [00:19, 77.45it/s]
1799it [00:19, 82.09it/s]
1808it [00:19, 82.44it/s]
1818it [00:19, 86.03it/s]
1830it [00:19, 93.65it/s]
1841it [00:19, 92.25it/s]
1852it [00:19, 94.23it/s]
1863it [00:19, 98.25it/s]
1875it [00:19, 102.55it/s]
1886it [00:20, 104.59it/s]
1897it [00:20, 105.66it/s]
1908it [00:20, 104.19it/s]
1920it [00:20, 107.81it/s]
1931it [00:20, 108.35it/s]
1942it [00:20, 108.11it/s]
1953it [00:20, 106.40it/s]
1964it [00:20, 107.02it/s]
1976it [00:20, 109.53it/s]
1987it [00:21, 109.30it/s]
1998it [00:21, 106.38it/s]
2009it [00:21, 101.74it/s]
2020it [00:21, 103.19it/s]
2032it [00:21, 103.06it/s]
2043it [00:21, 103.49it/s]
2055it [00:21, 105.54it/s]
2067it [00:21, 108.82it/s]
2079it [00:21, 111.75it/s]
2091it [00:22, 108.51it/s]
2102it [00:22, 105.58it/s]
2114it [00:22, 107.47it/s]
2125it [00:22, 102.49it/s]
2136it [00:22, 101.67it/s]
2149it [00:22, 105.28it/s]
2160it [00:22, 104.77it/s]
2171it [00:22, 95.74it/s] 
2181it [00:22, 94.02it/s]
2192it [00:23, 97.74it/s]
2203it [00:23, 98.92it/s]
2214it [00:23, 101.29it/s]
2225it [00:23, 101.56it/s]
2236it [00:23, 101.42it/s]
2247it [00:23, 103.43it/s]
2259it [00:23, 107.57it/s]
2270it [00:23, 107.39it/s]
2281it [00:23, 107.05it/s]
2292it [00:23, 102.91it/s]
2303it [00:24, 103.57it/s]
2314it [00:24, 103.63it/s]
2325it [00:24, 104.82it/s]
2338it [00:24, 110.59it/s]
2351it [00:24, 113.21it/s]
2363it [00:24, 112.80it/s]
2375it [00:24, 108.42it/s]
2386it [00:24, 100.53it/s]
2397it [00:24, 100.56it/s]
2408it [00:25, 102.85it/s]
2419it [00:25, 92.07it/s] 
2429it [00:25, 90.39it/s]
2440it [00:25, 95.12it/s]
2450it [00:25, 92.49it/s]
2460it [00:25, 94.49it/s]
2471it [00:25, 96.71it/s]
2483it [00:25, 101.25it/s]
2494it [00:25, 102.84it/s]
2505it [00:26, 100.62it/s]
2516it [00:26, 96.59it/s] 
2526it [00:26, 93.28it/s]
2539it [00:26, 101.64it/s]
2550it [00:26, 98.75it/s] 
2561it [00:26, 98.85it/s]
2571it [00:26, 92.15it/s]
2581it [00:26, 91.68it/s]
2593it [00:27, 97.29it/s]
2603it [00:27, 92.83it/s]
2613it [00:27, 94.49it/s]
2623it [00:27, 89.40it/s]
2635it [00:27, 96.50it/s]
2645it [00:27, 95.03it/s]
2655it [00:27, 93.14it/s]
2667it [00:27, 100.22it/s]
2678it [00:27, 99.78it/s] 
2689it [00:28, 96.58it/s]
2699it [00:28, 86.90it/s]
2708it [00:28, 71.90it/s]
2716it [00:28, 72.68it/s]
2724it [00:28, 71.30it/s]
2733it [00:28, 75.55it/s]
2745it [00:28, 84.91it/s]
2755it [00:28, 87.79it/s]
2767it [00:29, 94.81it/s]
2780it [00:29, 104.05it/s]
2791it [00:29, 103.88it/s]
2803it [00:29, 107.98it/s]
2814it [00:29, 107.05it/s]
2826it [00:29, 109.86it/s]
2838it [00:29, 103.79it/s]
2849it [00:29, 102.62it/s]
2860it [00:29, 100.20it/s]
2872it [00:29, 105.08it/s]
2883it [00:30, 96.68it/s] 
2895it [00:30, 102.06it/s]
2908it [00:30, 107.89it/s]
2919it [00:30, 107.93it/s]
2930it [00:30, 102.61it/s]
2941it [00:30, 104.59it/s]
2952it [00:30, 106.07it/s]
2964it [00:30, 109.24it/s]
2975it [00:30, 100.33it/s]
2987it [00:31, 103.59it/s]
2998it [00:31, 100.14it/s]
3009it [00:31, 97.31it/s] 
3021it [00:31, 101.72it/s]
3034it [00:31, 107.52it/s]
3045it [00:31, 101.84it/s]
3056it [00:31, 91.08it/s] 
3069it [00:31, 98.72it/s]
3081it [00:32, 103.96it/s]
3092it [00:32, 102.82it/s]
3103it [00:32, 98.30it/s] 
3114it [00:32, 100.39it/s]
3125it [00:32, 97.40it/s] 
3136it [00:32, 99.85it/s]
3149it [00:32, 106.68it/s]
3161it [00:32, 109.09it/s]
3172it [00:32, 106.81it/s]
3183it [00:33, 102.75it/s]
3194it [00:33, 100.61it/s]
3207it [00:33, 107.49it/s]
3218it [00:33, 100.89it/s]
3231it [00:33, 105.99it/s]
3242it [00:33, 106.51it/s]
3255it [00:33, 112.70it/s]
3268it [00:33, 115.33it/s]
3280it [00:33, 106.79it/s]
3291it [00:34, 99.48it/s] 
3304it [00:34, 105.69it/s]
3316it [00:34, 109.46it/s]
3328it [00:34, 108.50it/s]
3340it [00:34, 109.20it/s]
3352it [00:34, 111.91it/s]
3364it [00:34, 98.51it/s] 
3375it [00:34, 98.95it/s]
3386it [00:34, 100.47it/s]
3399it [00:35, 104.44it/s]
3410it [00:35, 105.69it/s]
3421it [00:35, 98.68it/s] 
3432it [00:35, 95.80it/s]
3443it [00:35, 99.09it/s]
3454it [00:35, 98.76it/s]
3466it [00:35, 100.62it/s]
3479it [00:35, 108.38it/s]
3490it [00:35, 98.16it/s] 
3501it [00:36, 95.51it/s]
3511it [00:36, 94.68it/s]
3523it [00:36, 100.58it/s]
3534it [00:36, 96.33it/s] 
3546it [00:36, 101.18it/s]
3557it [00:36, 97.70it/s] 
3568it [00:36, 99.26it/s]
3579it [00:36, 101.21it/s]
3590it [00:36, 102.94it/s]
3602it [00:37, 103.46it/s]
3613it [00:37, 95.30it/s] 
3623it [00:37, 92.58it/s]
3633it [00:37, 92.06it/s]
3644it [00:37, 95.51it/s]
3656it [00:37, 101.12it/s]
3668it [00:37, 105.50it/s]
3679it [00:37, 99.59it/s] 
3690it [00:38, 98.05it/s]
3702it [00:38, 103.08it/s]
3713it [00:38, 95.91it/s] 
3723it [00:38, 91.13it/s]
3733it [00:38, 89.94it/s]
3743it [00:38, 90.38it/s]
3753it [00:38, 91.98it/s]
3765it [00:38, 98.84it/s]
3776it [00:38, 101.36it/s]
3787it [00:39, 96.89it/s] 
3800it [00:39, 105.62it/s]
3812it [00:39, 108.00it/s]
3823it [00:39, 103.82it/s]
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Track data saved to /working/c8a5a51d-831a-428b-b094-4e760a2be672/processing/data/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/c8a5a51d-831a-428b-b094-4e760a2be672/processing/data/laser_aligned.ptd.cbor