=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.9
Input file:  /working/cdb3443e-5dd1-49bf-b7ac-4d9a5730a027/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 -=-=-=-=-=-=-
2025-12-22T00:59:42 - INFO:  Reading sonar track took 0.15214300155639648 sec!
2025-12-22T00:59:42 - INFO:  Reading sonar alignment track took {0.00047469139099121094} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  2%|▏         | 3/200 [00:00<00:08, 23.40it/s]
  4%|▎         | 7/200 [00:00<00:07, 25.79it/s]
  5%|▌         | 10/200 [00:00<00:07, 26.02it/s]
  6%|▋         | 13/200 [00:00<00:07, 26.61it/s]
  8%|▊         | 16/200 [00:00<00:06, 27.03it/s]
 10%|█         | 20/200 [00:00<00:06, 26.57it/s]
 12%|█▏        | 23/200 [00:00<00:06, 26.72it/s]
 13%|█▎        | 26/200 [00:01<00:06, 25.38it/s]
 14%|█▍        | 29/200 [00:01<00:06, 26.41it/s]
 16%|█▌        | 32/200 [00:01<00:06, 27.04it/s]
 18%|█▊        | 35/200 [00:01<00:06, 26.64it/s]
 19%|█▉        | 38/200 [00:01<00:06, 26.62it/s]
 20%|██        | 41/200 [00:01<00:05, 27.19it/s]
 22%|██▏       | 44/200 [00:01<00:05, 27.83it/s]
 24%|██▍       | 48/200 [00:01<00:05, 27.15it/s]
 26%|██▌       | 51/200 [00:01<00:05, 26.99it/s]
 27%|██▋       | 54/200 [00:02<00:05, 25.90it/s]
 28%|██▊       | 57/200 [00:02<00:05, 25.84it/s]
 30%|███       | 60/200 [00:02<00:05, 24.15it/s]
 32%|███▏      | 63/200 [00:02<00:05, 25.40it/s]
 33%|███▎      | 66/200 [00:02<00:05, 25.76it/s]
 34%|███▍      | 69/200 [00:02<00:05, 25.57it/s]
 36%|███▌      | 72/200 [00:02<00:05, 23.60it/s]
 38%|███▊      | 75/200 [00:02<00:04, 25.09it/s]
 39%|███▉      | 78/200 [00:02<00:04, 26.27it/s]
 40%|████      | 81/200 [00:03<00:04, 25.47it/s]
 42%|████▎     | 85/200 [00:03<00:04, 26.92it/s]
 44%|████▍     | 88/200 [00:03<00:04, 26.38it/s]
 46%|████▌     | 91/200 [00:03<00:04, 25.25it/s]
 47%|████▋     | 94/200 [00:03<00:04, 25.57it/s]
 48%|████▊     | 97/200 [00:03<00:03, 25.88it/s]
 50%|█████     | 100/200 [00:03<00:03, 25.54it/s]
 52%|█████▏    | 103/200 [00:03<00:03, 26.17it/s]
 53%|█████▎    | 106/200 [00:04<00:03, 26.61it/s]
 55%|█████▍    | 109/200 [00:04<00:03, 25.76it/s]
 56%|█████▌    | 112/200 [00:04<00:03, 24.73it/s]
 57%|█████▊    | 115/200 [00:04<00:03, 25.11it/s]
 59%|█████▉    | 118/200 [00:04<00:03, 25.12it/s]
 60%|██████    | 121/200 [00:04<00:03, 22.14it/s]
 62%|██████▏   | 124/200 [00:04<00:03, 23.30it/s]
 64%|██████▎   | 127/200 [00:04<00:02, 24.85it/s]
 66%|██████▌   | 131/200 [00:05<00:02, 27.00it/s]
 67%|██████▋   | 134/200 [00:05<00:02, 25.88it/s]
 68%|██████▊   | 137/200 [00:05<00:02, 25.87it/s]
 70%|███████   | 140/200 [00:05<00:02, 26.24it/s]
 72%|███████▏  | 143/200 [00:05<00:02, 23.60it/s]
 73%|███████▎  | 146/200 [00:05<00:02, 22.32it/s]
 74%|███████▍  | 149/200 [00:05<00:02, 22.60it/s]
 76%|███████▌  | 152/200 [00:05<00:02, 22.62it/s]
 78%|███████▊  | 155/200 [00:06<00:02, 22.45it/s]
 79%|███████▉  | 158/200 [00:06<00:01, 23.52it/s]
 80%|████████  | 161/200 [00:06<00:01, 23.18it/s]
 82%|████████▏ | 164/200 [00:06<00:01, 22.09it/s]
 84%|████████▎ | 167/200 [00:06<00:01, 22.57it/s]
 86%|████████▌ | 171/200 [00:06<00:01, 23.91it/s]
 87%|████████▋ | 174/200 [00:06<00:01, 24.80it/s]
 88%|████████▊ | 177/200 [00:07<00:00, 25.12it/s]
 90%|█████████ | 180/200 [00:07<00:00, 24.86it/s]
 92%|█████████▏| 183/200 [00:07<00:00, 24.46it/s]
 94%|█████████▎| 187/200 [00:07<00:00, 25.78it/s]
 95%|█████████▌| 190/200 [00:07<00:00, 25.15it/s]
 96%|█████████▋| 193/200 [00:07<00:00, 25.72it/s]
 98%|█████████▊| 196/200 [00:07<00:00, 26.57it/s]
100%|█████████▉| 199/200 [00:07<00:00, 20.91it/s]
100%|██████████| 200/200 [00:08<00:00, 24.96it/s]
 Median Scale of 200 frame found to be: 0.9045153784145299
 Fit to reference shape: 

0it [00:00, ?it/s]
3it [00:00, 28.66it/s]
6it [00:00, 18.37it/s]
13it [00:00, 35.37it/s]
20it [00:00, 46.50it/s]
30it [00:00, 62.67it/s]
39it [00:00, 71.04it/s]
48it [00:00, 75.90it/s]
57it [00:00, 79.75it/s]
68it [00:01, 87.34it/s]
78it [00:01, 89.63it/s]
88it [00:01, 88.62it/s]
98it [00:01, 89.67it/s]
108it [00:01, 89.87it/s]
118it [00:01, 90.47it/s]
129it [00:01, 93.67it/s]
139it [00:01, 92.39it/s]
150it [00:01, 97.20it/s]
161it [00:02, 99.04it/s]
172it [00:02, 100.13it/s]
184it [00:02, 103.85it/s]
195it [00:02, 100.40it/s]
206it [00:02, 101.88it/s]
218it [00:02, 104.72it/s]
229it [00:02, 104.51it/s]
240it [00:02, 96.73it/s] 
250it [00:02, 92.11it/s]
260it [00:03, 88.79it/s]
269it [00:03, 87.55it/s]
280it [00:03, 91.46it/s]
290it [00:03, 92.42it/s]
300it [00:03, 91.18it/s]
310it [00:03, 85.94it/s]
321it [00:03, 90.72it/s]
331it [00:03, 87.76it/s]
340it [00:03, 85.82it/s]
349it [00:04, 84.68it/s]
358it [00:04, 85.17it/s]
367it [00:04, 81.87it/s]
378it [00:04, 84.94it/s]
388it [00:04, 87.42it/s]
399it [00:04, 90.97it/s]
409it [00:04, 91.01it/s]
419it [00:04, 91.78it/s]
429it [00:04, 93.91it/s]
439it [00:05, 91.20it/s]
449it [00:05, 93.63it/s]
459it [00:05, 91.32it/s]
469it [00:05, 89.11it/s]
480it [00:05, 93.58it/s]
491it [00:05, 97.11it/s]
501it [00:05, 96.22it/s]
511it [00:05, 93.74it/s]
521it [00:05, 95.01it/s]
532it [00:06, 98.71it/s]
542it [00:06, 89.94it/s]
553it [00:06, 93.63it/s]
563it [00:06, 95.19it/s]
573it [00:06, 95.47it/s]
584it [00:06, 95.69it/s]
594it [00:06, 88.22it/s]
603it [00:06, 85.51it/s]
613it [00:06, 87.39it/s]
624it [00:07, 92.71it/s]
635it [00:07, 95.96it/s]
645it [00:07, 89.01it/s]
655it [00:07, 87.16it/s]
664it [00:07, 83.63it/s]
673it [00:07, 78.94it/s]
681it [00:07, 76.50it/s]
691it [00:07, 82.03it/s]
700it [00:07, 83.01it/s]
711it [00:08, 87.49it/s]
720it [00:08, 84.42it/s]
731it [00:08, 89.93it/s]
741it [00:08, 86.94it/s]
750it [00:08, 87.36it/s]
759it [00:08, 85.40it/s]
768it [00:08, 83.34it/s]
779it [00:08, 88.15it/s]
788it [00:08, 87.06it/s]
799it [00:09, 91.22it/s]
809it [00:09, 88.18it/s]
818it [00:09, 82.39it/s]
827it [00:09, 82.09it/s]
836it [00:09, 82.16it/s]
845it [00:09, 82.74it/s]
854it [00:09, 80.00it/s]
863it [00:09, 82.60it/s]
872it [00:09, 82.64it/s]
882it [00:10, 86.25it/s]
893it [00:10, 92.19it/s]
903it [00:10, 91.38it/s]
913it [00:10, 82.63it/s]
922it [00:10, 81.77it/s]
931it [00:10, 80.50it/s]
942it [00:10, 83.06it/s]
952it [00:10, 87.42it/s]
963it [00:11, 93.01it/s]
973it [00:11, 92.84it/s]
983it [00:11, 93.81it/s]
994it [00:11, 98.14it/s]
1004it [00:11, 94.51it/s]
1016it [00:11, 100.56it/s]
1027it [00:11, 95.59it/s] 
1039it [00:11, 101.38it/s]
1050it [00:11, 100.39it/s]
1062it [00:11, 104.13it/s]
1073it [00:12, 105.46it/s]
1084it [00:12, 104.39it/s]
1097it [00:12, 109.08it/s]
1108it [00:12, 101.92it/s]
1120it [00:12, 104.75it/s]
1131it [00:12, 105.70it/s]
1142it [00:12, 105.67it/s]
1155it [00:12, 110.92it/s]
1167it [00:12, 105.38it/s]
1179it [00:13, 108.96it/s]
1190it [00:13, 106.52it/s]
1202it [00:13, 108.85it/s]
1214it [00:13, 110.31it/s]
1226it [00:13, 102.64it/s]
1237it [00:13, 104.25it/s]
1248it [00:13, 95.33it/s] 
1260it [00:13, 100.63it/s]
1271it [00:13, 99.84it/s] 
1282it [00:14, 92.15it/s]
1292it [00:14, 90.47it/s]
1302it [00:14, 79.88it/s]
1312it [00:14, 83.05it/s]
1323it [00:14, 89.20it/s]
1334it [00:14, 92.72it/s]
1344it [00:14, 93.06it/s]
1356it [00:14, 99.31it/s]
1368it [00:15, 104.24it/s]
1379it [00:15, 101.61it/s]
1390it [00:15, 95.80it/s] 
1400it [00:15, 91.27it/s]
1410it [00:15, 85.01it/s]
1421it [00:15, 89.74it/s]
1431it [00:15, 82.84it/s]
1440it [00:15, 82.92it/s]
1450it [00:16, 85.51it/s]
1460it [00:16, 88.93it/s]
1470it [00:16, 90.69it/s]
1481it [00:16, 95.11it/s]
1492it [00:16, 98.55it/s]
1502it [00:16, 98.53it/s]
1512it [00:16, 98.05it/s]
1522it [00:16, 95.33it/s]
1532it [00:16, 95.46it/s]
1542it [00:16, 92.18it/s]
1552it [00:17, 93.57it/s]
1564it [00:17, 98.09it/s]
1577it [00:17, 106.35it/s]
1588it [00:17, 102.72it/s]
1599it [00:17, 102.58it/s]
1611it [00:17, 106.69it/s]
1624it [00:17, 111.22it/s]
1636it [00:17, 108.55it/s]
1647it [00:17, 106.43it/s]
1658it [00:18, 106.81it/s]
1669it [00:18, 106.94it/s]
1680it [00:18, 106.87it/s]
1691it [00:18, 100.92it/s]
1702it [00:18, 100.29it/s]
1714it [00:18, 104.58it/s]
1725it [00:18, 104.82it/s]
1736it [00:18, 98.87it/s] 
1746it [00:18, 94.13it/s]
1756it [00:19, 95.70it/s]
1766it [00:19, 91.86it/s]
1776it [00:19, 91.88it/s]
1786it [00:19, 90.66it/s]
1797it [00:19, 95.33it/s]
1807it [00:19, 96.27it/s]
1817it [00:19, 94.55it/s]
1827it [00:19, 95.43it/s]
1839it [00:19, 100.33it/s]
1850it [00:20, 100.94it/s]
1861it [00:20, 102.85it/s]
1872it [00:20, 104.17it/s]
1883it [00:20, 100.29it/s]
1895it [00:20, 105.07it/s]
1906it [00:20, 100.83it/s]
1918it [00:20, 105.48it/s]
1929it [00:20, 102.84it/s]
1940it [00:20, 102.51it/s]
1951it [00:21, 100.71it/s]
1962it [00:21, 99.15it/s] 
1972it [00:21, 91.21it/s]
1982it [00:21, 93.04it/s]
1992it [00:21, 94.20it/s]
2003it [00:21, 97.65it/s]
2013it [00:21, 96.02it/s]
2023it [00:21, 87.60it/s]
2034it [00:21, 91.13it/s]
2045it [00:22, 96.17it/s]
2057it [00:22, 99.56it/s]
2068it [00:22, 99.83it/s]
2079it [00:22, 96.31it/s]
2090it [00:22, 97.72it/s]
2100it [00:22, 96.65it/s]
2110it [00:22, 94.11it/s]
2120it [00:22, 93.37it/s]
2130it [00:22, 89.18it/s]
2140it [00:23, 91.12it/s]
2150it [00:23, 88.89it/s]
2161it [00:23, 93.63it/s]
2171it [00:23, 93.95it/s]
2183it [00:23, 100.85it/s]
2194it [00:23, 101.49it/s]
2206it [00:23, 104.45it/s]
2217it [00:23, 100.43it/s]
2228it [00:23, 101.16it/s]
2239it [00:24, 94.17it/s] 
2249it [00:24, 92.20it/s]
2261it [00:24, 97.72it/s]
2272it [00:24, 99.13it/s]
2282it [00:24, 97.94it/s]
2292it [00:24, 92.88it/s]
2304it [00:24, 97.33it/s]
2315it [00:24, 99.16it/s]
2326it [00:24, 101.62it/s]
2337it [00:25, 102.54it/s]
2348it [00:25, 102.53it/s]
2359it [00:25, 96.57it/s] 
2369it [00:25, 96.70it/s]
2381it [00:25, 101.75it/s]
2392it [00:25, 98.73it/s] 
2402it [00:25, 92.25it/s]
2412it [00:25, 91.39it/s]
2423it [00:25, 94.29it/s]
2434it [00:26, 97.99it/s]
2445it [00:26, 100.39it/s]
2456it [00:26, 98.17it/s] 
2467it [00:26, 100.53it/s]
2480it [00:26, 106.99it/s]
2491it [00:26, 102.32it/s]
2502it [00:26, 103.41it/s]
2513it [00:26, 104.27it/s]
2524it [00:26, 104.88it/s]
2536it [00:26, 106.83it/s]
2548it [00:27, 109.25it/s]
2560it [00:27, 110.49it/s]
2572it [00:27, 104.84it/s]
2583it [00:27, 100.81it/s]
2594it [00:27, 95.51it/s] 
2605it [00:27, 98.15it/s]
2615it [00:27, 95.85it/s]
2625it [00:27, 95.15it/s]
2636it [00:28, 96.84it/s]
2648it [00:28, 102.27it/s]
2659it [00:28, 95.71it/s] 
2671it [00:28, 99.35it/s]
2682it [00:28, 100.63it/s]
2694it [00:28, 103.09it/s]
2705it [00:28, 100.69it/s]
2717it [00:28, 105.10it/s]
2728it [00:28, 101.35it/s]
2739it [00:29, 96.33it/s] 
2750it [00:29, 97.86it/s]
2760it [00:29, 95.37it/s]
2770it [00:29, 91.43it/s]
2781it [00:29, 96.31it/s]
2791it [00:29, 95.28it/s]
2802it [00:29, 96.85it/s]
2814it [00:29, 101.28it/s]
2825it [00:29, 100.20it/s]
2836it [00:30, 98.07it/s] 
2847it [00:30, 100.59it/s]
2858it [00:30, 94.23it/s] 
2868it [00:30, 90.25it/s]
2879it [00:30, 94.94it/s]
2889it [00:30, 94.14it/s]
2899it [00:30, 93.41it/s]
2911it [00:30, 98.39it/s]
2921it [00:30, 98.04it/s]
2931it [00:31, 98.34it/s]
2941it [00:31, 97.99it/s]
2952it [00:31, 99.97it/s]
2963it [00:31, 101.24it/s]
2974it [00:31, 100.49it/s]
2985it [00:31, 103.02it/s]
2997it [00:31, 103.57it/s]
3010it [00:31, 105.55it/s]
3022it [00:31, 107.85it/s]
3034it [00:31, 109.85it/s]
3045it [00:32, 108.79it/s]
3057it [00:32, 109.32it/s]
3070it [00:32, 113.92it/s]
3082it [00:32, 106.61it/s]
3093it [00:32, 99.31it/s] 
3104it [00:32, 97.68it/s]
3117it [00:32, 105.23it/s]
3130it [00:32, 110.96it/s]
3142it [00:33, 111.40it/s]
3154it [00:33, 111.34it/s]
3166it [00:33, 109.12it/s]
3178it [00:33, 110.73it/s]
3190it [00:33, 106.15it/s]
3201it [00:33, 103.80it/s]
3212it [00:33, 101.44it/s]
3223it [00:33, 100.63it/s]
3234it [00:33, 101.74it/s]
3246it [00:34, 104.27it/s]
3257it [00:34, 100.19it/s]
3268it [00:34, 97.34it/s] 
3278it [00:34, 97.42it/s]
3289it [00:34, 98.75it/s]
3300it [00:34, 100.34it/s]
3311it [00:34, 97.78it/s] 
3321it [00:34, 98.15it/s]
3332it [00:34, 101.08it/s]
3343it [00:35, 91.32it/s] 
3355it [00:35, 97.19it/s]
3367it [00:35, 100.80it/s]
3378it [00:35, 96.29it/s] 
3390it [00:35, 100.92it/s]
3401it [00:35, 103.26it/s]
3412it [00:35, 100.28it/s]
3423it [00:35, 102.08it/s]
3435it [00:35, 104.70it/s]
3446it [00:36, 100.99it/s]
3458it [00:36, 104.38it/s]
3469it [00:36, 103.77it/s]
3480it [00:36, 105.26it/s]
3491it [00:36, 101.11it/s]
3503it [00:36, 106.18it/s]
3514it [00:36, 100.90it/s]
3525it [00:36, 101.14it/s]
3536it [00:36, 102.95it/s]
3549it [00:37, 108.60it/s]
3561it [00:37, 109.16it/s]
3574it [00:37, 113.50it/s]
3586it [00:37, 112.10it/s]
3598it [00:37, 113.08it/s]
3610it [00:37, 112.47it/s]
3622it [00:37, 109.88it/s]
3635it [00:37, 112.87it/s]
3647it [00:37, 105.03it/s]
3658it [00:38, 102.49it/s]
3669it [00:38, 104.41it/s]
3683it [00:38, 113.35it/s]
3695it [00:38, 109.28it/s]
3707it [00:38, 105.80it/s]
3719it [00:38, 109.14it/s]
3731it [00:38, 110.74it/s]
3743it [00:38, 98.30it/s] 
3754it [00:38, 101.09it/s]
3765it [00:39, 98.18it/s] 
3776it [00:39, 97.04it/s]
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Track data saved to /working/cdb3443e-5dd1-49bf-b7ac-4d9a5730a027/processing/data/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/cdb3443e-5dd1-49bf-b7ac-4d9a5730a027/processing/data/laser_aligned.ptd.cbor