=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.9
Input file:  /working/65b45fd2-877f-4bf8-8584-7f99e9b23ba6/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 -=-=-=-=-=-=-
2025-12-22T01:08:12 - INFO:  Reading sonar track took 0.2871561050415039 sec!
2025-12-22T01:08:12 - INFO:  Reading sonar alignment track took {0.0007092952728271484} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  1%|          | 2/200 [00:00<00:10, 19.03it/s]
  2%|▎         | 5/200 [00:00<00:09, 20.21it/s]
  4%|▍         | 8/200 [00:00<00:08, 22.53it/s]
  6%|▌         | 11/200 [00:00<00:07, 24.71it/s]
  7%|▋         | 14/200 [00:00<00:07, 25.36it/s]
  9%|▉         | 18/200 [00:00<00:06, 28.01it/s]
 11%|█         | 22/200 [00:00<00:05, 29.91it/s]
 12%|█▎        | 25/200 [00:00<00:05, 29.51it/s]
 14%|█▍        | 28/200 [00:01<00:06, 28.34it/s]
 16%|█▌        | 31/200 [00:01<00:05, 28.40it/s]
 18%|█▊        | 35/200 [00:01<00:05, 29.08it/s]
 19%|█▉        | 38/200 [00:01<00:05, 27.45it/s]
 20%|██        | 41/200 [00:01<00:05, 27.54it/s]
 22%|██▏       | 44/200 [00:01<00:05, 27.92it/s]
 24%|██▍       | 48/200 [00:01<00:05, 28.84it/s]
 26%|██▌       | 51/200 [00:01<00:05, 26.30it/s]
 28%|██▊       | 55/200 [00:02<00:05, 27.03it/s]
 29%|██▉       | 58/200 [00:02<00:05, 25.79it/s]
 30%|███       | 61/200 [00:02<00:05, 25.23it/s]
 32%|███▏      | 64/200 [00:02<00:05, 25.43it/s]
 34%|███▍      | 68/200 [00:02<00:04, 27.60it/s]
 36%|███▌      | 71/200 [00:02<00:04, 27.97it/s]
 38%|███▊      | 75/200 [00:02<00:04, 29.22it/s]
 39%|███▉      | 78/200 [00:02<00:04, 28.54it/s]
 40%|████      | 81/200 [00:02<00:04, 28.43it/s]
 42%|████▏     | 84/200 [00:03<00:04, 26.03it/s]
 44%|████▎     | 87/200 [00:03<00:04, 26.01it/s]
 45%|████▌     | 90/200 [00:03<00:04, 26.73it/s]
 47%|████▋     | 94/200 [00:03<00:03, 27.91it/s]
 48%|████▊     | 97/200 [00:03<00:03, 26.22it/s]
 50%|█████     | 100/200 [00:03<00:03, 27.02it/s]
 52%|█████▏    | 103/200 [00:03<00:03, 26.39it/s]
 53%|█████▎    | 106/200 [00:03<00:03, 23.64it/s]
 55%|█████▍    | 109/200 [00:04<00:03, 23.55it/s]
 56%|█████▌    | 112/200 [00:04<00:03, 22.89it/s]
 57%|█████▊    | 115/200 [00:04<00:03, 24.18it/s]
 59%|█████▉    | 118/200 [00:04<00:03, 23.42it/s]
 60%|██████    | 121/200 [00:04<00:03, 23.15it/s]
 62%|██████▏   | 124/200 [00:04<00:03, 23.84it/s]
 64%|██████▎   | 127/200 [00:04<00:02, 25.25it/s]
 66%|██████▌   | 131/200 [00:04<00:02, 26.34it/s]
 67%|██████▋   | 134/200 [00:05<00:02, 25.09it/s]
 68%|██████▊   | 137/200 [00:05<00:02, 23.53it/s]
 70%|███████   | 140/200 [00:05<00:02, 24.72it/s]
 72%|███████▏  | 143/200 [00:05<00:02, 24.44it/s]
 73%|███████▎  | 146/200 [00:05<00:02, 25.28it/s]
 74%|███████▍  | 149/200 [00:05<00:01, 25.90it/s]
 76%|███████▌  | 152/200 [00:05<00:01, 24.62it/s]
 78%|███████▊  | 155/200 [00:05<00:01, 25.17it/s]
 79%|███████▉  | 158/200 [00:06<00:01, 25.85it/s]
 80%|████████  | 161/200 [00:06<00:01, 24.80it/s]
 82%|████████▎ | 165/200 [00:06<00:01, 27.59it/s]
 84%|████████▍ | 168/200 [00:06<00:01, 24.81it/s]
 86%|████████▌ | 171/200 [00:06<00:01, 23.46it/s]
 87%|████████▋ | 174/200 [00:06<00:01, 24.56it/s]
 89%|████████▉ | 178/200 [00:06<00:00, 26.87it/s]
 90%|█████████ | 181/200 [00:06<00:00, 25.26it/s]
 92%|█████████▏| 184/200 [00:07<00:00, 24.09it/s]
 94%|█████████▎| 187/200 [00:07<00:00, 24.00it/s]
 95%|█████████▌| 190/200 [00:07<00:00, 22.81it/s]
 97%|█████████▋| 194/200 [00:07<00:00, 25.11it/s]
 98%|█████████▊| 197/200 [00:07<00:00, 24.96it/s]
100%|██████████| 200/200 [00:07<00:00, 25.87it/s]
100%|██████████| 200/200 [00:07<00:00, 25.77it/s]
 Median Scale of 200 frame found to be: 0.6416409766488027
 Fit to reference shape: 

0it [00:00, ?it/s]
6it [00:00, 58.47it/s]
16it [00:00, 79.63it/s]
26it [00:00, 87.74it/s]
37it [00:00, 93.49it/s]
49it [00:00, 102.36it/s]
62it [00:00, 108.36it/s]
74it [00:00, 110.61it/s]
86it [00:00, 112.44it/s]
98it [00:00, 114.27it/s]
111it [00:01, 119.01it/s]
123it [00:01, 114.53it/s]
135it [00:01, 113.75it/s]
148it [00:01, 117.38it/s]
161it [00:01, 118.33it/s]
174it [00:01, 119.96it/s]
188it [00:01, 123.54it/s]
201it [00:01, 124.51it/s]
214it [00:01, 125.23it/s]
227it [00:01, 123.08it/s]
241it [00:02, 127.22it/s]
255it [00:02, 129.22it/s]
268it [00:02, 128.14it/s]
281it [00:02, 124.23it/s]
294it [00:02, 123.30it/s]
307it [00:02, 121.66it/s]
321it [00:02, 125.42it/s]
334it [00:02, 125.64it/s]
348it [00:02, 127.64it/s]
361it [00:03, 124.47it/s]
374it [00:03, 124.94it/s]
387it [00:03, 123.67it/s]
401it [00:03, 127.74it/s]
414it [00:03, 126.48it/s]
427it [00:03, 124.72it/s]
440it [00:03, 124.36it/s]
453it [00:03, 125.38it/s]
466it [00:03, 125.82it/s]
479it [00:04, 124.20it/s]
492it [00:04, 119.74it/s]
505it [00:04, 118.44it/s]
518it [00:04, 119.80it/s]
531it [00:04, 118.34it/s]
544it [00:04, 119.74it/s]
557it [00:04, 121.74it/s]
570it [00:04, 120.11it/s]
583it [00:04, 115.99it/s]
595it [00:05, 109.10it/s]
607it [00:05, 111.02it/s]
619it [00:05, 109.83it/s]
631it [00:05, 110.33it/s]
644it [00:05, 113.17it/s]
656it [00:05, 114.93it/s]
668it [00:05, 115.31it/s]
680it [00:05, 115.64it/s]
693it [00:05, 117.03it/s]
705it [00:05, 115.91it/s]
717it [00:06, 111.40it/s]
729it [00:06, 108.53it/s]
742it [00:06, 113.95it/s]
754it [00:06, 114.02it/s]
767it [00:06, 115.61it/s]
780it [00:06, 117.63it/s]
793it [00:06, 120.02it/s]
806it [00:06, 119.00it/s]
819it [00:06, 121.60it/s]
832it [00:07, 123.31it/s]
846it [00:07, 125.73it/s]
860it [00:07, 128.57it/s]
873it [00:07, 119.26it/s]
886it [00:07, 116.04it/s]
898it [00:07, 117.10it/s]
911it [00:07, 119.48it/s]
924it [00:07, 120.20it/s]
937it [00:07, 118.09it/s]
949it [00:08, 116.61it/s]
961it [00:08, 114.63it/s]
973it [00:08, 111.30it/s]
985it [00:08, 111.56it/s]
998it [00:08, 116.13it/s]
1012it [00:08, 122.30it/s]
1025it [00:08, 118.99it/s]
1037it [00:08, 118.05it/s]
1050it [00:08, 119.07it/s]
1063it [00:09, 120.70it/s]
1076it [00:09, 120.63it/s]
1089it [00:09, 122.29it/s]
1102it [00:09, 121.22it/s]
1115it [00:09, 118.34it/s]
1127it [00:09, 114.94it/s]
1139it [00:09, 111.08it/s]
1151it [00:09, 109.87it/s]
1164it [00:09, 113.64it/s]
1177it [00:09, 116.02it/s]
1189it [00:10, 113.14it/s]
1201it [00:10, 112.12it/s]
1213it [00:10, 110.18it/s]
1225it [00:10, 110.91it/s]
1237it [00:10, 111.89it/s]
1249it [00:10, 110.83it/s]
1262it [00:10, 115.00it/s]
1274it [00:10, 111.30it/s]
1286it [00:10, 109.16it/s]
1299it [00:11, 114.12it/s]
1311it [00:11, 113.81it/s]
1323it [00:11, 115.19it/s]
1336it [00:11, 118.72it/s]
1350it [00:11, 123.17it/s]
1364it [00:11, 127.30it/s]
1378it [00:11, 127.80it/s]
1391it [00:11, 124.99it/s]
1404it [00:11, 125.70it/s]
1418it [00:12, 127.91it/s]
1431it [00:12, 126.05it/s]
1444it [00:12, 125.44it/s]
1457it [00:12, 121.12it/s]
1470it [00:12, 116.33it/s]
1482it [00:12, 116.93it/s]
1494it [00:12, 107.97it/s]
1505it [00:12, 105.87it/s]
1516it [00:12, 101.42it/s]
1527it [00:13, 99.72it/s] 
1538it [00:13, 101.69it/s]
1549it [00:13, 99.69it/s] 
1560it [00:13, 95.09it/s]
1571it [00:13, 96.28it/s]
1581it [00:13, 95.70it/s]
1591it [00:13, 83.11it/s]
1602it [00:13, 88.62it/s]
1612it [00:14, 86.51it/s]
1621it [00:14, 83.34it/s]
1630it [00:14, 84.99it/s]
1641it [00:14, 91.58it/s]
1652it [00:14, 95.60it/s]
1662it [00:14, 89.61it/s]
1674it [00:14, 97.80it/s]
1684it [00:14, 97.75it/s]
1695it [00:14, 100.16it/s]
1706it [00:14, 100.65it/s]
1718it [00:15, 105.23it/s]
1730it [00:15, 107.74it/s]
1741it [00:15, 103.71it/s]
1753it [00:15, 107.77it/s]
1765it [00:15, 109.90it/s]
1778it [00:15, 114.00it/s]
1790it [00:15, 115.02it/s]
1802it [00:15, 115.09it/s]
1815it [00:15, 119.19it/s]
1828it [00:16, 120.20it/s]
1841it [00:16, 120.49it/s]
1854it [00:16, 116.26it/s]
1866it [00:16, 114.18it/s]
1878it [00:16, 115.05it/s]
1890it [00:16, 115.57it/s]
1902it [00:16, 115.43it/s]
1914it [00:16, 116.16it/s]
1926it [00:16, 112.40it/s]
1938it [00:16, 113.57it/s]
1951it [00:17, 117.70it/s]
1964it [00:17, 119.61it/s]
1976it [00:17, 117.98it/s]
1988it [00:17, 118.18it/s]
2000it [00:17, 114.96it/s]
2012it [00:17, 113.05it/s]
2025it [00:17, 117.44it/s]
2037it [00:17, 117.80it/s]
2051it [00:17, 122.04it/s]
2064it [00:18, 122.87it/s]
2077it [00:18, 123.38it/s]
2090it [00:18, 124.60it/s]
2103it [00:18, 123.74it/s]
2116it [00:18, 121.52it/s]
2129it [00:18, 119.71it/s]
2141it [00:18, 118.84it/s]
2153it [00:18, 116.01it/s]
2165it [00:18, 115.22it/s]
2177it [00:19, 112.04it/s]
2189it [00:19, 113.82it/s]
2201it [00:19, 113.47it/s]
2213it [00:19, 109.18it/s]
2225it [00:19, 110.72it/s]
2237it [00:19, 110.88it/s]
2249it [00:19, 96.87it/s] 
2261it [00:19, 100.97it/s]
2272it [00:19, 103.28it/s]
2286it [00:20, 111.21it/s]
2299it [00:20, 114.83it/s]
2311it [00:20, 103.71it/s]
2322it [00:20, 103.68it/s]
2335it [00:20, 106.03it/s]
2348it [00:20, 111.77it/s]
2362it [00:20, 119.55it/s]
2375it [00:20, 113.14it/s]
2387it [00:20, 112.49it/s]
2400it [00:21, 115.38it/s]
2414it [00:21, 120.30it/s]
2427it [00:21, 121.93it/s]
2440it [00:21, 124.06it/s]
2453it [00:21, 124.47it/s]
2467it [00:21, 128.11it/s]
2481it [00:21, 129.34it/s]
2494it [00:21, 126.47it/s]
2507it [00:21, 122.68it/s]
2520it [00:21, 122.44it/s]
2534it [00:22, 125.00it/s]
2547it [00:22, 122.53it/s]
2560it [00:22, 120.05it/s]
2573it [00:22, 120.47it/s]
2586it [00:22, 118.52it/s]
2599it [00:22, 120.53it/s]
2612it [00:22, 118.18it/s]
2624it [00:22, 118.63it/s]
2637it [00:22, 119.78it/s]
2649it [00:23, 119.74it/s]
2661it [00:23, 119.72it/s]
2673it [00:23, 119.55it/s]
2687it [00:23, 122.76it/s]
2700it [00:23, 120.43it/s]
2713it [00:23, 116.25it/s]
2725it [00:23, 112.51it/s]
2737it [00:23, 112.28it/s]
2749it [00:23, 112.96it/s]
2762it [00:24, 115.93it/s]
2774it [00:24, 106.70it/s]
2786it [00:24, 108.73it/s]
2799it [00:24, 113.01it/s]
2811it [00:24, 114.77it/s]
2823it [00:24, 112.99it/s]
2835it [00:24, 114.61it/s]
2848it [00:24, 116.49it/s]
2861it [00:24, 119.19it/s]
2873it [00:25, 114.55it/s]
2885it [00:25, 114.86it/s]
2898it [00:25, 117.28it/s]
2910it [00:25, 115.26it/s]
2924it [00:25, 120.50it/s]
2937it [00:25, 120.62it/s]
2950it [00:25, 120.77it/s]
2963it [00:25, 120.27it/s]
2976it [00:25, 121.85it/s]
2989it [00:25, 122.04it/s]
3002it [00:26, 117.62it/s]
3015it [00:26, 118.77it/s]
3027it [00:26, 116.46it/s]
3039it [00:26, 116.15it/s]
3051it [00:26, 116.90it/s]
3063it [00:26, 110.63it/s]
3075it [00:26, 111.37it/s]
3087it [00:26, 107.81it/s]
3098it [00:26, 106.00it/s]
3109it [00:27, 104.83it/s]
3120it [00:27, 104.60it/s]
3131it [00:27, 103.58it/s]
3142it [00:27, 104.43it/s]
3153it [00:27, 104.32it/s]
3166it [00:27, 109.35it/s]
3178it [00:27, 110.51it/s]
3190it [00:27, 110.98it/s]
3202it [00:27, 112.14it/s]
3214it [00:28, 114.10it/s]
3227it [00:28, 116.39it/s]
3241it [00:28, 121.20it/s]
3254it [00:28, 120.06it/s]
3267it [00:28, 122.29it/s]
3281it [00:28, 125.14it/s]
3294it [00:28, 116.49it/s]
3306it [00:28, 115.10it/s]
3318it [00:28, 114.63it/s]
3330it [00:29, 113.40it/s]
3342it [00:29, 113.71it/s]
3355it [00:29, 114.37it/s]
3367it [00:29, 115.25it/s]
3380it [00:29, 118.37it/s]
3392it [00:29, 113.08it/s]
3405it [00:29, 115.49it/s]
3418it [00:29, 117.65it/s]
3431it [00:29, 120.50it/s]
3444it [00:29, 115.60it/s]
3457it [00:30, 118.39it/s]
3469it [00:30, 117.55it/s]
3483it [00:30, 122.22it/s]
3496it [00:30, 121.84it/s]
3511it [00:30, 127.89it/s]
3524it [00:30, 126.52it/s]
3537it [00:30, 124.31it/s]
3552it [00:30, 128.06it/s]
3565it [00:30, 124.15it/s]
3578it [00:31, 121.95it/s]
3592it [00:31, 125.17it/s]
3607it [00:31, 131.45it/s]
3621it [00:31, 126.30it/s]
3635it [00:31, 130.12it/s]
3649it [00:31, 131.62it/s]
3663it [00:31, 129.82it/s]
3677it [00:31, 129.50it/s]
3690it [00:31, 126.70it/s]
3704it [00:32, 129.92it/s]
3718it [00:32, 128.83it/s]
3731it [00:32, 128.19it/s]
3745it [00:32, 129.26it/s]
3758it [00:32, 123.84it/s]
3771it [00:32, 119.96it/s]
3784it [00:32, 118.24it/s]
3797it [00:32, 120.02it/s]
3810it [00:32, 119.54it/s]
3822it [00:33, 116.31it/s]
3834it [00:33, 116.86it/s]
3846it [00:33, 113.55it/s]
3858it [00:33, 114.06it/s]
3870it [00:33, 115.24it/s]
3884it [00:33, 120.57it/s]
3897it [00:33, 117.77it/s]
3910it [00:33, 119.68it/s]
3923it [00:33, 119.20it/s]
3936it [00:33, 120.00it/s]
3949it [00:34, 120.16it/s]
3963it [00:34, 123.75it/s]
3976it [00:34, 121.68it/s]
3990it [00:34, 126.79it/s]
4003it [00:34, 124.82it/s]
4016it [00:34, 124.33it/s]
4029it [00:34, 123.67it/s]
4042it [00:34, 125.07it/s]
4055it [00:34, 126.44it/s]
4068it [00:35, 124.00it/s]
4081it [00:35, 124.92it/s]
4094it [00:35, 125.50it/s]
4107it [00:35, 120.74it/s]
4120it [00:35, 117.51it/s]
4134it [00:35, 122.32it/s]
4147it [00:35, 122.04it/s]
4160it [00:35, 123.25it/s]
4174it [00:35, 125.62it/s]
4188it [00:36, 127.78it/s]
4201it [00:36, 125.16it/s]
4215it [00:36, 127.24it/s]
4228it [00:36, 126.34it/s]
4242it [00:36, 127.45it/s]
4255it [00:36, 124.98it/s]
4268it [00:36, 119.25it/s]
4280it [00:36, 117.18it/s]
4293it [00:36, 118.01it/s]
4305it [00:36, 116.78it/s]
4317it [00:37, 104.34it/s]
4329it [00:37, 107.16it/s]
4341it [00:37, 110.34it/s]
4353it [00:37, 108.41it/s]
4365it [00:37, 105.85it/s]
4377it [00:37, 108.21it/s]
4388it [00:37, 107.55it/s]
4399it [00:37, 107.74it/s]
4410it [00:37, 107.07it/s]
4424it [00:38, 116.44it/s]
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Track data saved to /working/65b45fd2-877f-4bf8-8584-7f99e9b23ba6/processing/data/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/65b45fd2-877f-4bf8-8584-7f99e9b23ba6/processing/data/laser_aligned.ptd.cbor