=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.9
Input file:  /working/24d153ff-9e40-4f53-a9d5-1ef72355091a/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 -=-=-=-=-=-=-
2025-12-22T01:07:59 - INFO:  Reading sonar track took 0.2225358486175537 sec!
2025-12-22T01:07:59 - INFO:  Reading sonar alignment track took {0.005785226821899414} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  2%|▏         | 3/200 [00:00<00:08, 22.98it/s]
  3%|▎         | 6/200 [00:00<00:08, 23.92it/s]
  4%|▍         | 9/200 [00:00<00:07, 25.22it/s]
  6%|▌         | 12/200 [00:00<00:07, 25.39it/s]
  8%|▊         | 15/200 [00:00<00:07, 24.31it/s]
  9%|▉         | 18/200 [00:00<00:07, 23.67it/s]
 10%|█         | 21/200 [00:00<00:07, 23.29it/s]
 12%|█▏        | 24/200 [00:01<00:07, 23.16it/s]
 14%|█▍        | 28/200 [00:01<00:06, 25.17it/s]
 16%|█▌        | 31/200 [00:01<00:06, 25.83it/s]
 17%|█▋        | 34/200 [00:01<00:06, 25.99it/s]
 18%|█▊        | 37/200 [00:01<00:06, 26.01it/s]
 20%|██        | 40/200 [00:01<00:06, 24.59it/s]
 22%|██▏       | 43/200 [00:01<00:06, 23.69it/s]
 23%|██▎       | 46/200 [00:01<00:06, 24.74it/s]
 24%|██▍       | 49/200 [00:01<00:06, 24.94it/s]
 26%|██▌       | 52/200 [00:02<00:06, 22.00it/s]
 28%|██▊       | 55/200 [00:02<00:06, 22.10it/s]
 29%|██▉       | 58/200 [00:02<00:06, 22.36it/s]
 30%|███       | 61/200 [00:02<00:05, 24.15it/s]
 32%|███▏      | 64/200 [00:02<00:05, 25.46it/s]
 34%|███▍      | 68/200 [00:02<00:05, 26.22it/s]
 36%|███▌      | 72/200 [00:02<00:04, 27.23it/s]
 38%|███▊      | 75/200 [00:03<00:04, 26.56it/s]
 39%|███▉      | 78/200 [00:03<00:04, 26.38it/s]
 41%|████      | 82/200 [00:03<00:04, 27.63it/s]
 43%|████▎     | 86/200 [00:03<00:03, 28.63it/s]
 45%|████▌     | 90/200 [00:03<00:03, 29.86it/s]
 46%|████▋     | 93/200 [00:03<00:03, 28.90it/s]
 48%|████▊     | 97/200 [00:03<00:03, 29.63it/s]
 50%|█████     | 100/200 [00:03<00:03, 28.99it/s]
 52%|█████▏    | 103/200 [00:03<00:03, 28.30it/s]
 53%|█████▎    | 106/200 [00:04<00:03, 26.97it/s]
 55%|█████▌    | 110/200 [00:04<00:03, 29.06it/s]
 56%|█████▋    | 113/200 [00:04<00:03, 28.85it/s]
 58%|█████▊    | 117/200 [00:04<00:02, 28.29it/s]
 60%|██████    | 120/200 [00:04<00:02, 27.81it/s]
 62%|██████▏   | 123/200 [00:04<00:02, 26.69it/s]
 63%|██████▎   | 126/200 [00:04<00:02, 27.38it/s]
 64%|██████▍   | 129/200 [00:04<00:02, 25.96it/s]
 66%|██████▌   | 132/200 [00:05<00:02, 26.81it/s]
 68%|██████▊   | 135/200 [00:05<00:02, 27.29it/s]
 69%|██████▉   | 138/200 [00:05<00:02, 26.62it/s]
 70%|███████   | 141/200 [00:05<00:02, 24.89it/s]
 72%|███████▏  | 144/200 [00:05<00:02, 25.57it/s]
 74%|███████▍  | 148/200 [00:05<00:01, 26.87it/s]
 76%|███████▌  | 151/200 [00:05<00:01, 24.70it/s]
 77%|███████▋  | 154/200 [00:05<00:01, 25.21it/s]
 79%|███████▉  | 158/200 [00:06<00:01, 26.62it/s]
 81%|████████  | 162/200 [00:06<00:01, 27.15it/s]
 82%|████████▎ | 165/200 [00:06<00:01, 25.46it/s]
 84%|████████▍ | 169/200 [00:06<00:01, 27.41it/s]
 86%|████████▋ | 173/200 [00:06<00:00, 28.94it/s]
 88%|████████▊ | 176/200 [00:06<00:00, 28.66it/s]
 90%|█████████ | 180/200 [00:06<00:00, 29.52it/s]
 92%|█████████▏| 184/200 [00:06<00:00, 29.32it/s]
 94%|█████████▍| 188/200 [00:07<00:00, 30.13it/s]
 96%|█████████▌| 192/200 [00:07<00:00, 31.89it/s]
 98%|█████████▊| 196/200 [00:07<00:00, 32.58it/s]
100%|██████████| 200/200 [00:07<00:00, 28.69it/s]
100%|██████████| 200/200 [00:07<00:00, 26.70it/s]
 Median Scale of 200 frame found to be: 0.6354050090741845
 Fit to reference shape: 

0it [00:00, ?it/s]
6it [00:00, 55.80it/s]
16it [00:00, 80.44it/s]
30it [00:00, 101.91it/s]
41it [00:00, 104.60it/s]
52it [00:00, 105.47it/s]
64it [00:00, 107.93it/s]
77it [00:00, 114.54it/s]
89it [00:00, 114.29it/s]
101it [00:00, 112.35it/s]
113it [00:01, 112.56it/s]
125it [00:01, 114.33it/s]
137it [00:01, 109.63it/s]
149it [00:01, 111.02it/s]
161it [00:01, 112.85it/s]
173it [00:01, 112.16it/s]
185it [00:01, 111.05it/s]
197it [00:01, 106.34it/s]
209it [00:01, 108.78it/s]
222it [00:02, 113.07it/s]
234it [00:02, 114.18it/s]
246it [00:02, 114.27it/s]
259it [00:02, 117.86it/s]
271it [00:02, 114.84it/s]
283it [00:02, 113.41it/s]
295it [00:02, 112.39it/s]
307it [00:02, 109.83it/s]
320it [00:02, 114.36it/s]
332it [00:02, 114.27it/s]
345it [00:03, 117.45it/s]
358it [00:03, 118.66it/s]
371it [00:03, 121.87it/s]
384it [00:03, 117.09it/s]
398it [00:03, 121.43it/s]
411it [00:03, 122.56it/s]
424it [00:03, 124.00it/s]
438it [00:03, 127.23it/s]
451it [00:03, 124.81it/s]
464it [00:04, 124.75it/s]
477it [00:04, 124.69it/s]
490it [00:04, 123.46it/s]
503it [00:04, 123.07it/s]
516it [00:04, 119.71it/s]
530it [00:04, 124.48it/s]
543it [00:04, 126.04it/s]
556it [00:04, 120.68it/s]
569it [00:04, 122.52it/s]
583it [00:05, 125.58it/s]
596it [00:05, 125.63it/s]
609it [00:05, 118.07it/s]
622it [00:05, 120.02it/s]
635it [00:05, 122.22it/s]
648it [00:05, 122.41it/s]
661it [00:05, 121.92it/s]
674it [00:05, 123.71it/s]
688it [00:05, 127.12it/s]
701it [00:05, 127.93it/s]
714it [00:06, 122.97it/s]
727it [00:06, 124.91it/s]
740it [00:06, 123.59it/s]
753it [00:06, 124.30it/s]
766it [00:06, 123.10it/s]
780it [00:06, 125.68it/s]
793it [00:06, 125.99it/s]
806it [00:06, 124.13it/s]
819it [00:06, 122.45it/s]
832it [00:07, 123.43it/s]
845it [00:07, 120.74it/s]
858it [00:07, 122.33it/s]
871it [00:07, 119.23it/s]
883it [00:07, 118.18it/s]
895it [00:07, 116.01it/s]
908it [00:07, 117.05it/s]
920it [00:07, 117.35it/s]
933it [00:07, 118.97it/s]
945it [00:08, 119.14it/s]
958it [00:08, 119.89it/s]
971it [00:08, 121.68it/s]
984it [00:08, 118.11it/s]
996it [00:08, 113.60it/s]
1008it [00:08, 113.68it/s]
1021it [00:08, 116.86it/s]
1034it [00:08, 119.94it/s]
1047it [00:08, 114.36it/s]
1059it [00:08, 113.47it/s]
1071it [00:09, 112.49it/s]
1083it [00:09, 113.42it/s]
1095it [00:09, 111.19it/s]
1107it [00:09, 113.22it/s]
1119it [00:09, 112.27it/s]
1131it [00:09, 113.79it/s]
1143it [00:09, 114.05it/s]
1155it [00:09, 111.91it/s]
1167it [00:09, 112.55it/s]
1179it [00:10, 114.00it/s]
1192it [00:10, 117.68it/s]
1205it [00:10, 120.26it/s]
1218it [00:10, 119.22it/s]
1231it [00:10, 120.02it/s]
1244it [00:10, 116.63it/s]
1256it [00:10, 115.49it/s]
1269it [00:10, 119.57it/s]
1282it [00:10, 121.19it/s]
1295it [00:11, 118.63it/s]
1309it [00:11, 122.94it/s]
1322it [00:11, 124.52it/s]
1335it [00:11, 122.31it/s]
1348it [00:11, 118.53it/s]
1360it [00:11, 117.78it/s]
1373it [00:11, 119.29it/s]
1385it [00:11, 117.43it/s]
1398it [00:11, 118.78it/s]
1411it [00:11, 120.56it/s]
1424it [00:12, 121.36it/s]
1437it [00:12, 122.09it/s]
1450it [00:12, 123.19it/s]
1464it [00:12, 123.51it/s]
1478it [00:12, 127.74it/s]
1492it [00:12, 129.71it/s]
1505it [00:12, 125.28it/s]
1518it [00:12, 125.37it/s]
1532it [00:12, 127.42it/s]
1546it [00:13, 130.41it/s]
1560it [00:13, 129.00it/s]
1573it [00:13, 128.00it/s]
1587it [00:13, 129.73it/s]
1600it [00:13, 129.68it/s]
1614it [00:13, 131.59it/s]
1628it [00:13, 133.68it/s]
1642it [00:13, 130.88it/s]
1656it [00:13, 120.11it/s]
1669it [00:14, 115.55it/s]
1682it [00:14, 117.23it/s]
1695it [00:14, 119.28it/s]
1708it [00:14, 117.71it/s]
1721it [00:14, 118.59it/s]
1733it [00:14, 117.91it/s]
1745it [00:14, 117.91it/s]
1757it [00:14, 115.83it/s]
1769it [00:14, 110.57it/s]
1781it [00:15, 111.01it/s]
1794it [00:15, 115.59it/s]
1806it [00:15, 111.18it/s]
1818it [00:15, 110.33it/s]
1831it [00:15, 115.74it/s]
1843it [00:15, 113.51it/s]
1856it [00:15, 116.93it/s]
1869it [00:15, 118.39it/s]
1882it [00:15, 119.25it/s]
1895it [00:15, 120.52it/s]
1908it [00:16, 116.55it/s]
1920it [00:16, 116.51it/s]
1932it [00:16, 112.68it/s]
1944it [00:16, 111.09it/s]
1956it [00:16, 106.66it/s]
1967it [00:16, 103.00it/s]
1979it [00:16, 105.74it/s]
1990it [00:16, 105.84it/s]
2001it [00:16, 105.15it/s]
2012it [00:17, 102.71it/s]
2023it [00:17, 102.59it/s]
2034it [00:17, 93.96it/s] 
2044it [00:17, 92.16it/s]
2054it [00:17, 93.14it/s]
2064it [00:17, 92.34it/s]
2075it [00:17, 96.96it/s]
2086it [00:17, 98.33it/s]
2098it [00:17, 102.49it/s]
2109it [00:18, 100.07it/s]
2120it [00:18, 94.01it/s] 
2132it [00:18, 98.14it/s]
2144it [00:18, 101.87it/s]
2157it [00:18, 109.27it/s]
2170it [00:18, 113.10it/s]
2182it [00:18, 114.72it/s]
2195it [00:18, 118.78it/s]
2210it [00:18, 127.06it/s]
2223it [00:19, 124.88it/s]
2237it [00:19, 127.35it/s]
2250it [00:19, 126.13it/s]
2264it [00:19, 129.18it/s]
2277it [00:19, 125.84it/s]
2290it [00:19, 124.80it/s]
2303it [00:19, 122.20it/s]
2316it [00:19, 122.51it/s]
2329it [00:19, 123.56it/s]
2342it [00:20, 124.36it/s]
2355it [00:20, 122.77it/s]
2368it [00:20, 114.66it/s]
2380it [00:20, 112.86it/s]
2392it [00:20, 107.72it/s]
2403it [00:20, 107.49it/s]
2414it [00:20, 107.95it/s]
2425it [00:20, 104.66it/s]
2436it [00:20, 104.78it/s]
2448it [00:21, 109.00it/s]
2459it [00:21, 104.70it/s]
2470it [00:21, 101.86it/s]
2481it [00:21, 99.11it/s] 
2491it [00:21, 97.52it/s]
2502it [00:21, 100.57it/s]
2513it [00:21, 101.52it/s]
2524it [00:21, 101.10it/s]
2536it [00:21, 106.30it/s]
2547it [00:21, 105.61it/s]
2558it [00:22, 103.75it/s]
2569it [00:22, 102.84it/s]
2581it [00:22, 107.68it/s]
2592it [00:22, 107.70it/s]
2604it [00:22, 110.09it/s]
2619it [00:22, 121.23it/s]
2632it [00:22, 120.06it/s]
2645it [00:22, 118.88it/s]
2658it [00:22, 121.94it/s]
2671it [00:23, 117.27it/s]
2683it [00:23, 117.26it/s]
2695it [00:23, 115.99it/s]
2708it [00:23, 117.67it/s]
2720it [00:23, 113.82it/s]
2732it [00:23, 114.03it/s]
2744it [00:23, 111.58it/s]
2756it [00:23, 107.69it/s]
2767it [00:23, 104.90it/s]
2778it [00:24, 98.41it/s] 
2788it [00:24, 96.77it/s]
2798it [00:24, 92.60it/s]
2809it [00:24, 95.35it/s]
2820it [00:24, 95.37it/s]
2830it [00:24, 95.93it/s]
2841it [00:24, 98.57it/s]
2852it [00:24, 99.85it/s]
2863it [00:24, 92.43it/s]
2873it [00:25, 93.44it/s]
2884it [00:25, 95.65it/s]
2894it [00:25, 94.52it/s]
2905it [00:25, 96.69it/s]
2917it [00:25, 102.14it/s]
2929it [00:25, 105.82it/s]
2940it [00:25, 103.06it/s]
2952it [00:25, 105.90it/s]
2964it [00:25, 109.41it/s]
2977it [00:26, 113.82it/s]
2989it [00:26, 114.85it/s]
3002it [00:26, 117.39it/s]
3015it [00:26, 118.35it/s]
3028it [00:26, 119.99it/s]
3041it [00:26, 121.47it/s]
3054it [00:26, 123.18it/s]
3067it [00:26, 121.23it/s]
3081it [00:26, 124.82it/s]
3094it [00:27, 120.74it/s]
3107it [00:27, 121.86it/s]
3120it [00:27, 113.60it/s]
3132it [00:27, 115.03it/s]
3144it [00:27, 113.93it/s]
3156it [00:27, 115.12it/s]
3168it [00:27, 113.58it/s]
3182it [00:27, 119.71it/s]
3195it [00:27, 120.07it/s]
3208it [00:27, 120.06it/s]
3221it [00:28, 119.73it/s]
3234it [00:28, 120.46it/s]
3249it [00:28, 125.98it/s]
3262it [00:28, 124.97it/s]
3275it [00:28, 126.16it/s]
3288it [00:28, 125.84it/s]
3301it [00:28, 125.64it/s]
3314it [00:28, 125.45it/s]
3327it [00:28, 126.31it/s]
3340it [00:29, 126.88it/s]
3353it [00:29, 125.97it/s]
3366it [00:29, 126.59it/s]
3379it [00:29, 125.54it/s]
3394it [00:29, 130.00it/s]
3407it [00:29, 127.45it/s]
3420it [00:29, 122.88it/s]
3433it [00:29, 122.90it/s]
3446it [00:29, 124.70it/s]
3459it [00:29, 122.90it/s]
3472it [00:30, 122.12it/s]
3485it [00:30, 118.78it/s]
3497it [00:30, 113.24it/s]
3509it [00:30, 113.50it/s]
3522it [00:30, 116.89it/s]
3535it [00:30, 120.52it/s]
3548it [00:30, 120.06it/s]
3562it [00:30, 123.86it/s]
3575it [00:30, 124.41it/s]
3589it [00:31, 127.07it/s]
3602it [00:31, 126.23it/s]
3615it [00:31, 124.99it/s]
3628it [00:31, 124.16it/s]
3641it [00:31, 125.51it/s]
3654it [00:31, 126.39it/s]
3667it [00:31, 123.64it/s]
3680it [00:31, 125.37it/s]
3693it [00:31, 118.17it/s]
3705it [00:32, 115.67it/s]
3717it [00:32, 116.36it/s]
3729it [00:32, 117.08it/s]
3741it [00:32, 109.25it/s]
3755it [00:32, 117.24it/s]
3767it [00:32, 109.19it/s]
3779it [00:32, 102.06it/s]
3790it [00:32, 97.32it/s] 
3800it [00:32, 91.90it/s]
3810it [00:33, 90.62it/s]
3820it [00:33, 85.63it/s]
3829it [00:33, 80.57it/s]
3838it [00:33, 82.89it/s]
3847it [00:33, 82.70it/s]
3858it [00:33, 87.08it/s]
3867it [00:33, 81.86it/s]
3876it [00:33, 82.86it/s]
3885it [00:34, 83.35it/s]
3894it [00:34, 84.40it/s]
3903it [00:34, 84.03it/s]
3912it [00:34, 84.93it/s]
3922it [00:34, 88.68it/s]
3931it [00:34, 84.56it/s]
3940it [00:34, 85.18it/s]
3949it [00:34, 80.57it/s]
3958it [00:34, 82.67it/s]
3967it [00:34, 84.34it/s]
3976it [00:35, 81.83it/s]
3985it [00:35, 83.82it/s]
3995it [00:35, 86.75it/s]
4004it [00:35, 80.43it/s]
4013it [00:35, 78.78it/s]
4021it [00:35, 77.10it/s]
4030it [00:35, 79.10it/s]
4038it [00:35, 76.75it/s]
4046it [00:35, 75.45it/s]
4055it [00:36, 79.39it/s]
4066it [00:36, 86.30it/s]
4078it [00:36, 93.94it/s]
4089it [00:36, 96.53it/s]
4102it [00:36, 104.28it/s]
4113it [00:36, 103.35it/s]
4125it [00:36, 105.92it/s]
4137it [00:36, 108.18it/s]
4149it [00:36, 109.27it/s]
4161it [00:37, 111.34it/s]
4174it [00:37, 115.08it/s]
4187it [00:37, 116.83it/s]
4199it [00:37, 117.59it/s]
4212it [00:37, 121.11it/s]
4225it [00:37, 118.20it/s]
4237it [00:37, 114.18it/s]
4249it [00:37, 115.30it/s]
4261it [00:37, 112.33it/s]
4274it [00:38, 116.97it/s]
4286it [00:38, 111.06it/s]
4298it [00:38, 112.09it/s]
4310it [00:38, 100.22it/s]
4321it [00:38, 99.18it/s] 
4333it [00:38, 102.40it/s]
4345it [00:38, 105.92it/s]
4357it [00:38, 108.77it/s]
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Track data saved to /working/24d153ff-9e40-4f53-a9d5-1ef72355091a/processing/data/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/24d153ff-9e40-4f53-a9d5-1ef72355091a/processing/data/laser_aligned.ptd.cbor