=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.9
Input file:  /working/6b61cf33-12b8-4caf-864e-8ab1f6987e25/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 -=-=-=-=-=-=-
2025-12-22T00:59:51 - INFO:  Reading sonar track took 0.18143987655639648 sec!
2025-12-22T00:59:51 - INFO:  Reading sonar alignment track took {0.0006396770477294922} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  2%|▏         | 3/200 [00:00<00:07, 24.87it/s]
  3%|▎         | 6/200 [00:00<00:09, 21.46it/s]
  4%|▍         | 9/200 [00:00<00:09, 20.18it/s]
  6%|▌         | 12/200 [00:00<00:08, 22.54it/s]
  8%|▊         | 15/200 [00:00<00:08, 22.73it/s]
  9%|▉         | 18/200 [00:00<00:08, 22.01it/s]
 10%|█         | 21/200 [00:00<00:07, 23.32it/s]
 12%|█▏        | 24/200 [00:01<00:07, 24.70it/s]
 14%|█▎        | 27/200 [00:01<00:06, 24.94it/s]
 15%|█▌        | 30/200 [00:01<00:07, 24.19it/s]
 16%|█▋        | 33/200 [00:01<00:06, 25.07it/s]
 18%|█▊        | 36/200 [00:01<00:06, 24.53it/s]
 20%|█▉        | 39/200 [00:01<00:06, 24.66it/s]
 21%|██        | 42/200 [00:01<00:06, 23.74it/s]
 22%|██▎       | 45/200 [00:01<00:06, 23.60it/s]
 24%|██▍       | 48/200 [00:02<00:06, 23.10it/s]
 26%|██▌       | 51/200 [00:02<00:06, 22.18it/s]
 27%|██▋       | 54/200 [00:02<00:06, 23.47it/s]
 28%|██▊       | 57/200 [00:02<00:05, 24.87it/s]
 30%|███       | 60/200 [00:02<00:05, 24.95it/s]
 32%|███▏      | 63/200 [00:02<00:05, 25.32it/s]
 33%|███▎      | 66/200 [00:02<00:05, 25.26it/s]
 34%|███▍      | 69/200 [00:02<00:05, 23.48it/s]
 36%|███▌      | 72/200 [00:03<00:05, 23.45it/s]
 38%|███▊      | 75/200 [00:03<00:05, 22.90it/s]
 39%|███▉      | 78/200 [00:03<00:05, 23.23it/s]
 40%|████      | 81/200 [00:03<00:04, 24.30it/s]
 42%|████▏     | 84/200 [00:03<00:04, 24.24it/s]
 44%|████▎     | 87/200 [00:03<00:04, 23.82it/s]
 45%|████▌     | 90/200 [00:03<00:04, 24.67it/s]
 46%|████▋     | 93/200 [00:03<00:04, 24.68it/s]
 48%|████▊     | 96/200 [00:04<00:04, 24.55it/s]
 50%|████▉     | 99/200 [00:04<00:04, 22.47it/s]
 51%|█████     | 102/200 [00:04<00:04, 21.76it/s]
 52%|█████▎    | 105/200 [00:04<00:04, 22.96it/s]
 54%|█████▍    | 108/200 [00:04<00:03, 24.27it/s]
 56%|█████▌    | 112/200 [00:04<00:03, 26.30it/s]
 57%|█████▊    | 115/200 [00:04<00:03, 24.71it/s]
 59%|█████▉    | 118/200 [00:04<00:03, 23.62it/s]
 60%|██████    | 121/200 [00:05<00:03, 23.90it/s]
 62%|██████▏   | 124/200 [00:05<00:04, 17.97it/s]
 64%|██████▎   | 127/200 [00:05<00:03, 19.98it/s]
 65%|██████▌   | 130/200 [00:05<00:03, 21.13it/s]
 66%|██████▋   | 133/200 [00:05<00:02, 22.83it/s]
 68%|██████▊   | 136/200 [00:05<00:02, 23.36it/s]
 70%|██████▉   | 139/200 [00:05<00:02, 23.71it/s]
 71%|███████   | 142/200 [00:06<00:02, 24.85it/s]
 73%|███████▎  | 146/200 [00:06<00:02, 25.84it/s]
 74%|███████▍  | 149/200 [00:06<00:02, 25.12it/s]
 76%|███████▌  | 152/200 [00:06<00:01, 26.14it/s]
 78%|███████▊  | 155/200 [00:06<00:01, 26.12it/s]
 80%|███████▉  | 159/200 [00:06<00:01, 27.40it/s]
 81%|████████  | 162/200 [00:06<00:01, 24.67it/s]
 82%|████████▎ | 165/200 [00:06<00:01, 23.87it/s]
 84%|████████▍ | 168/200 [00:07<00:01, 25.03it/s]
 86%|████████▌ | 171/200 [00:07<00:01, 25.85it/s]
 87%|████████▋ | 174/200 [00:07<00:00, 26.20it/s]
 88%|████████▊ | 177/200 [00:07<00:01, 21.61it/s]
 90%|█████████ | 181/200 [00:07<00:00, 23.81it/s]
 92%|█████████▏| 184/200 [00:07<00:00, 24.93it/s]
 94%|█████████▎| 187/200 [00:07<00:00, 24.50it/s]
 95%|█████████▌| 190/200 [00:07<00:00, 25.00it/s]
 96%|█████████▋| 193/200 [00:08<00:00, 25.91it/s]
 98%|█████████▊| 196/200 [00:08<00:00, 23.11it/s]
100%|█████████▉| 199/200 [00:08<00:00, 20.09it/s]
100%|██████████| 200/200 [00:08<00:00, 23.51it/s]
 Median Scale of 200 frame found to be: 0.7325631434741755
 Fit to reference shape: 

0it [00:00, ?it/s]
6it [00:00, 57.83it/s]
16it [00:00, 78.52it/s]
26it [00:00, 85.73it/s]
38it [00:00, 98.03it/s]
50it [00:00, 103.68it/s]
61it [00:00, 101.41it/s]
72it [00:00, 103.96it/s]
84it [00:00, 108.01it/s]
95it [00:00, 107.12it/s]
107it [00:01, 107.80it/s]
118it [00:01, 106.28it/s]
129it [00:01, 106.37it/s]
140it [00:01, 105.87it/s]
151it [00:01, 106.38it/s]
162it [00:01, 103.46it/s]
173it [00:01, 104.63it/s]
185it [00:01, 108.44it/s]
197it [00:01, 109.87it/s]
209it [00:02, 110.44it/s]
221it [00:02, 107.76it/s]
232it [00:02, 107.85it/s]
243it [00:02, 107.83it/s]
254it [00:02, 108.31it/s]
267it [00:02, 113.08it/s]
279it [00:02, 113.56it/s]
291it [00:02, 112.04it/s]
303it [00:02, 110.13it/s]
315it [00:02, 112.11it/s]
327it [00:03, 111.30it/s]
339it [00:03, 111.16it/s]
351it [00:03, 112.21it/s]
363it [00:03, 111.96it/s]
375it [00:03, 105.49it/s]
387it [00:03, 107.70it/s]
398it [00:03, 107.69it/s]
409it [00:03, 108.28it/s]
421it [00:03, 109.74it/s]
432it [00:04, 109.08it/s]
443it [00:04, 109.00it/s]
454it [00:04, 107.54it/s]
465it [00:04, 102.79it/s]
476it [00:04, 104.51it/s]
487it [00:04, 104.64it/s]
498it [00:04, 103.09it/s]
509it [00:04, 100.69it/s]
521it [00:04, 105.91it/s]
533it [00:05, 107.67it/s]
546it [00:05, 111.18it/s]
558it [00:05, 112.93it/s]
570it [00:05, 113.87it/s]
582it [00:05, 113.24it/s]
594it [00:05, 113.62it/s]
607it [00:05, 115.62it/s]
619it [00:05, 115.00it/s]
631it [00:05, 113.89it/s]
643it [00:05, 113.61it/s]
655it [00:06, 114.92it/s]
667it [00:06, 112.43it/s]
680it [00:06, 115.77it/s]
692it [00:06, 115.48it/s]
705it [00:06, 116.83it/s]
718it [00:06, 118.20it/s]
730it [00:06, 116.35it/s]
742it [00:06, 114.20it/s]
754it [00:06, 113.74it/s]
766it [00:07, 114.95it/s]
778it [00:07, 113.14it/s]
790it [00:07, 111.32it/s]
802it [00:07, 109.26it/s]
813it [00:07, 107.17it/s]
824it [00:07, 107.15it/s]
835it [00:07, 107.94it/s]
846it [00:07, 105.72it/s]
858it [00:07, 107.10it/s]
869it [00:07, 107.04it/s]
880it [00:08, 105.52it/s]
892it [00:08, 107.63it/s]
904it [00:08, 109.27it/s]
915it [00:08, 103.26it/s]
926it [00:08, 101.33it/s]
938it [00:08, 103.68it/s]
949it [00:08, 98.55it/s] 
962it [00:08, 104.85it/s]
975it [00:08, 109.43it/s]
987it [00:09, 109.40it/s]
999it [00:09, 110.08it/s]
1011it [00:09, 108.75it/s]
1022it [00:09, 108.80it/s]
1035it [00:09, 112.91it/s]
1047it [00:09, 113.41it/s]
1059it [00:09, 112.35it/s]
1072it [00:09, 115.43it/s]
1084it [00:09, 115.70it/s]
1096it [00:10, 113.11it/s]
1109it [00:10, 117.63it/s]
1121it [00:10, 113.63it/s]
1133it [00:10, 111.83it/s]
1145it [00:10, 110.67it/s]
1157it [00:10, 109.08it/s]
1168it [00:10, 107.55it/s]
1179it [00:10, 105.93it/s]
1190it [00:10, 105.05it/s]
1202it [00:11, 107.02it/s]
1214it [00:11, 108.15it/s]
1225it [00:11, 105.43it/s]
1236it [00:11, 104.87it/s]
1247it [00:11, 104.65it/s]
1258it [00:11, 105.41it/s]
1270it [00:11, 106.95it/s]
1281it [00:11, 106.79it/s]
1292it [00:11, 106.87it/s]
1303it [00:11, 106.81it/s]
1314it [00:12, 103.49it/s]
1325it [00:12, 101.51it/s]
1337it [00:12, 103.14it/s]
1348it [00:12, 104.47it/s]
1359it [00:12, 101.97it/s]
1371it [00:12, 105.51it/s]
1382it [00:12, 105.25it/s]
1393it [00:12, 105.24it/s]
1404it [00:12, 106.47it/s]
1415it [00:13, 105.03it/s]
1426it [00:13, 103.22it/s]
1437it [00:13, 102.51it/s]
1448it [00:13, 98.05it/s] 
1460it [00:13, 101.78it/s]
1472it [00:13, 104.96it/s]
1483it [00:13, 104.57it/s]
1494it [00:13, 104.14it/s]
1505it [00:13, 104.81it/s]
1516it [00:14, 102.75it/s]
1527it [00:14, 100.67it/s]
1539it [00:14, 105.89it/s]
1550it [00:14, 101.64it/s]
1561it [00:14, 102.45it/s]
1573it [00:14, 107.32it/s]
1584it [00:14, 105.22it/s]
1595it [00:14, 105.39it/s]
1608it [00:14, 110.00it/s]
1620it [00:15, 108.23it/s]
1632it [00:15, 109.98it/s]
1644it [00:15, 111.69it/s]
1656it [00:15, 112.16it/s]
1668it [00:15, 107.77it/s]
1679it [00:15, 102.89it/s]
1691it [00:15, 105.93it/s]
1702it [00:15, 103.92it/s]
1714it [00:15, 105.27it/s]
1726it [00:16, 108.34it/s]
1737it [00:16, 108.48it/s]
1749it [00:16, 109.62it/s]
1761it [00:16, 112.59it/s]
1775it [00:16, 119.13it/s]
1787it [00:16, 108.64it/s]
1799it [00:16, 105.98it/s]
1812it [00:16, 110.02it/s]
1824it [00:16, 111.74it/s]
1836it [00:17, 110.06it/s]
1848it [00:17, 107.45it/s]
1859it [00:17, 108.13it/s]
1870it [00:17, 108.25it/s]
1881it [00:17, 107.77it/s]
1893it [00:17, 108.22it/s]
1904it [00:17, 104.23it/s]
1915it [00:17, 105.28it/s]
1926it [00:17, 105.80it/s]
1937it [00:17, 99.87it/s] 
1948it [00:18, 94.44it/s]
1958it [00:18, 94.74it/s]
1968it [00:18, 93.43it/s]
1979it [00:18, 96.19it/s]
1991it [00:18, 101.24it/s]
2002it [00:18, 100.49it/s]
2013it [00:18, 96.67it/s] 
2024it [00:18, 100.16it/s]
2035it [00:19, 96.57it/s] 
2045it [00:19, 96.70it/s]
2055it [00:19, 91.38it/s]
2068it [00:19, 99.18it/s]
2079it [00:19, 101.10it/s]
2090it [00:19, 103.41it/s]
2101it [00:19, 103.32it/s]
2113it [00:19, 105.95it/s]
2124it [00:19, 89.32it/s] 
2136it [00:20, 95.83it/s]
2148it [00:20, 100.04it/s]
2159it [00:20, 101.75it/s]
2171it [00:20, 105.54it/s]
2182it [00:20, 104.97it/s]
2193it [00:20, 103.77it/s]
2205it [00:20, 106.33it/s]
2217it [00:20, 109.38it/s]
2229it [00:20, 111.57it/s]
2241it [00:20, 110.50it/s]
2253it [00:21, 107.87it/s]
2265it [00:21, 110.96it/s]
2277it [00:21, 109.41it/s]
2289it [00:21, 110.50it/s]
2301it [00:21, 113.09it/s]
2313it [00:21, 113.88it/s]
2325it [00:21, 112.12it/s]
2338it [00:21, 113.80it/s]
2350it [00:21, 111.53it/s]
2362it [00:22, 111.71it/s]
2374it [00:22, 113.11it/s]
2386it [00:22, 113.49it/s]
2398it [00:22, 110.93it/s]
2410it [00:22, 112.73it/s]
2423it [00:22, 116.33it/s]
2435it [00:22, 113.52it/s]
2447it [00:22, 110.87it/s]
2459it [00:22, 110.95it/s]
2471it [00:23, 110.77it/s]
2484it [00:23, 116.15it/s]
2496it [00:23, 113.77it/s]
2508it [00:23, 111.36it/s]
2520it [00:23, 107.73it/s]
2531it [00:23, 105.57it/s]
2542it [00:23, 106.68it/s]
2553it [00:23, 106.28it/s]
2564it [00:23, 105.13it/s]
2575it [00:24, 105.11it/s]
2586it [00:24, 103.87it/s]
2597it [00:24, 101.69it/s]
2609it [00:24, 104.43it/s]
2620it [00:24, 105.36it/s]
2631it [00:24, 104.37it/s]
2642it [00:24, 105.55it/s]
2654it [00:24, 106.11it/s]
2665it [00:24, 100.35it/s]
2677it [00:25, 102.13it/s]
2689it [00:25, 104.34it/s]
2700it [00:25, 103.31it/s]
2711it [00:25, 104.34it/s]
2723it [00:25, 107.51it/s]
2734it [00:25, 106.49it/s]
2745it [00:25, 107.34it/s]
2756it [00:25, 100.47it/s]
2768it [00:25, 105.18it/s]
2780it [00:25, 107.18it/s]
2791it [00:26, 102.42it/s]
2802it [00:26, 100.98it/s]
2813it [00:26, 99.02it/s] 
2824it [00:26, 99.50it/s]
2835it [00:26, 101.14it/s]
2847it [00:26, 104.14it/s]
2858it [00:26, 99.31it/s] 
2868it [00:26, 98.90it/s]
2878it [00:26, 97.30it/s]
2889it [00:27, 99.38it/s]
2899it [00:27, 99.53it/s]
2911it [00:27, 102.68it/s]
2922it [00:27, 100.95it/s]
2933it [00:27, 101.65it/s]
2944it [00:27, 100.12it/s]
2955it [00:27, 95.49it/s] 
2965it [00:27, 94.17it/s]
2977it [00:27, 99.42it/s]
2989it [00:28, 102.13it/s]
3000it [00:28, 103.43it/s]
3012it [00:28, 106.14it/s]
3023it [00:28, 106.77it/s]
3035it [00:28, 110.29it/s]
3047it [00:28, 112.44it/s]
3059it [00:28, 111.63it/s]
3071it [00:28, 111.00it/s]
3083it [00:28, 110.52it/s]
3095it [00:29, 110.64it/s]
3107it [00:29, 110.52it/s]
3119it [00:29, 112.09it/s]
3131it [00:29, 111.40it/s]
3143it [00:29, 112.64it/s]
3155it [00:29, 112.55it/s]
3167it [00:29, 112.47it/s]
3179it [00:29, 110.31it/s]
3191it [00:29, 112.39it/s]
3203it [00:30, 108.66it/s]
3215it [00:30, 109.54it/s]
3226it [00:30, 107.78it/s]
3238it [00:30, 109.73it/s]
3249it [00:30, 108.78it/s]
3260it [00:30, 107.34it/s]
3272it [00:30, 108.69it/s]
3283it [00:30, 105.93it/s]
3295it [00:30, 107.82it/s]
3307it [00:30, 111.28it/s]
3319it [00:31, 110.46it/s]
3331it [00:31, 108.16it/s]
3342it [00:31, 108.15it/s]
3354it [00:31, 109.49it/s]
3366it [00:31, 110.44it/s]
3378it [00:31, 105.91it/s]
3389it [00:31, 106.10it/s]
3400it [00:31, 100.38it/s]
3412it [00:31, 105.08it/s]
3424it [00:32, 107.31it/s]
3435it [00:32, 105.42it/s]
3446it [00:32, 103.97it/s]
3458it [00:32, 106.16it/s]
3470it [00:32, 107.82it/s]
3482it [00:32, 110.03it/s]
3494it [00:32, 107.75it/s]
3506it [00:32, 108.78it/s]
3517it [00:32, 105.28it/s]
3528it [00:33, 103.10it/s]
3540it [00:33, 106.04it/s]
3551it [00:33, 106.50it/s]
3562it [00:33, 106.17it/s]
3574it [00:33, 109.28it/s]
3585it [00:33, 105.32it/s]
3597it [00:33, 107.12it/s]
3609it [00:33, 110.57it/s]
3621it [00:33, 110.76it/s]
3633it [00:34, 111.26it/s]
3645it [00:34, 108.31it/s]
3656it [00:34, 108.68it/s]
3668it [00:34, 111.29it/s]
3680it [00:34, 113.14it/s]
3692it [00:34, 113.03it/s]
3704it [00:34, 104.14it/s]
3715it [00:34, 102.97it/s]
3726it [00:34, 98.44it/s] 
3738it [00:35, 102.58it/s]
3749it [00:35, 100.19it/s]
3760it [00:35, 99.21it/s] 
3770it [00:35, 91.80it/s]
3780it [00:35, 88.64it/s]
3791it [00:35, 93.27it/s]
3802it [00:35, 95.57it/s]
3812it [00:35, 93.21it/s]
3822it [00:35, 92.05it/s]
3832it [00:36, 90.87it/s]
3843it [00:36, 96.12it/s]
3853it [00:36, 92.32it/s]
3863it [00:36, 91.51it/s]
3875it [00:36, 98.08it/s]
3885it [00:36, 93.19it/s]
3895it [00:36, 89.90it/s]
3906it [00:36, 95.06it/s]
3916it [00:36, 91.78it/s]
3926it [00:37, 92.20it/s]
3936it [00:37, 91.07it/s]
3946it [00:37, 89.02it/s]
3955it [00:37, 85.42it/s]
3964it [00:37, 82.68it/s]
3975it [00:37, 88.24it/s]
3987it [00:37, 91.55it/s]
3999it [00:37, 97.94it/s]
4010it [00:37, 100.77it/s]
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Track data saved to /working/6b61cf33-12b8-4caf-864e-8ab1f6987e25/processing/data/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/6b61cf33-12b8-4caf-864e-8ab1f6987e25/processing/data/laser_aligned.ptd.cbor