=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.9
Input file:  /working/a090cf5e-b51a-4946-ad41-4a0fad6d727f/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 -=-=-=-=-=-=-
2025-12-22T01:08:24 - INFO:  Reading sonar track took 0.2628448009490967 sec!
2025-12-22T01:08:24 - INFO:  Reading sonar alignment track took {0.005608320236206055} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  2%|▏         | 3/200 [00:00<00:09, 20.49it/s]
  3%|▎         | 6/200 [00:00<00:08, 21.63it/s]
  4%|▍         | 9/200 [00:00<00:10, 19.06it/s]
  6%|▌         | 11/200 [00:00<00:10, 18.48it/s]
  6%|▋         | 13/200 [00:00<00:10, 17.58it/s]
  8%|▊         | 16/200 [00:00<00:09, 19.33it/s]
 10%|▉         | 19/200 [00:00<00:08, 20.20it/s]
 11%|█         | 22/200 [00:01<00:08, 20.85it/s]
 13%|█▎        | 26/200 [00:01<00:07, 24.10it/s]
 14%|█▍        | 29/200 [00:01<00:07, 23.30it/s]
 16%|█▌        | 32/200 [00:01<00:07, 23.15it/s]
 18%|█▊        | 36/200 [00:01<00:06, 25.40it/s]
 20%|█▉        | 39/200 [00:01<00:06, 25.75it/s]
 21%|██        | 42/200 [00:01<00:06, 24.16it/s]
 22%|██▎       | 45/200 [00:02<00:06, 23.88it/s]
 24%|██▍       | 48/200 [00:02<00:06, 23.26it/s]
 26%|██▌       | 51/200 [00:02<00:06, 23.32it/s]
 27%|██▋       | 54/200 [00:02<00:06, 23.43it/s]
 28%|██▊       | 57/200 [00:02<00:06, 23.48it/s]
 30%|███       | 60/200 [00:02<00:05, 23.44it/s]
 32%|███▏      | 63/200 [00:02<00:06, 22.62it/s]
 33%|███▎      | 66/200 [00:02<00:05, 23.28it/s]
 34%|███▍      | 69/200 [00:03<00:05, 23.80it/s]
 36%|███▌      | 72/200 [00:03<00:05, 24.58it/s]
 38%|███▊      | 75/200 [00:03<00:05, 24.28it/s]
 39%|███▉      | 78/200 [00:03<00:04, 25.40it/s]
 41%|████      | 82/200 [00:03<00:04, 27.42it/s]
 42%|████▎     | 85/200 [00:03<00:04, 23.06it/s]
 44%|████▍     | 88/200 [00:03<00:04, 23.13it/s]
 46%|████▌     | 92/200 [00:03<00:04, 24.88it/s]
 48%|████▊     | 95/200 [00:04<00:04, 25.16it/s]
 49%|████▉     | 98/200 [00:04<00:04, 24.03it/s]
 50%|█████     | 101/200 [00:04<00:04, 24.17it/s]
 52%|█████▏    | 104/200 [00:04<00:04, 23.10it/s]
 54%|█████▎    | 107/200 [00:04<00:04, 23.06it/s]
 55%|█████▌    | 110/200 [00:04<00:03, 24.41it/s]
 57%|█████▋    | 114/200 [00:04<00:03, 23.87it/s]
 58%|█████▊    | 117/200 [00:05<00:03, 24.47it/s]
 60%|██████    | 120/200 [00:05<00:03, 25.09it/s]
 62%|██████▏   | 123/200 [00:05<00:03, 25.21it/s]
 63%|██████▎   | 126/200 [00:05<00:03, 20.98it/s]
 64%|██████▍   | 129/200 [00:05<00:03, 20.81it/s]
 66%|██████▌   | 132/200 [00:05<00:03, 20.45it/s]
 68%|██████▊   | 136/200 [00:05<00:02, 23.55it/s]
 70%|██████▉   | 139/200 [00:06<00:02, 22.93it/s]
 71%|███████   | 142/200 [00:06<00:02, 22.87it/s]
 72%|███████▎  | 145/200 [00:06<00:02, 24.54it/s]
 74%|███████▍  | 149/200 [00:06<00:01, 26.63it/s]
 76%|███████▌  | 152/200 [00:06<00:01, 25.94it/s]
 78%|███████▊  | 155/200 [00:06<00:01, 25.28it/s]
 79%|███████▉  | 158/200 [00:06<00:01, 24.59it/s]
 80%|████████  | 161/200 [00:06<00:01, 24.54it/s]
 82%|████████▏ | 164/200 [00:07<00:01, 22.77it/s]
 84%|████████▎ | 167/200 [00:07<00:01, 21.94it/s]
 85%|████████▌ | 170/200 [00:07<00:01, 20.07it/s]
 86%|████████▋ | 173/200 [00:07<00:01, 21.57it/s]
 88%|████████▊ | 176/200 [00:07<00:01, 22.41it/s]
 90%|████████▉ | 179/200 [00:07<00:00, 21.52it/s]
 91%|█████████ | 182/200 [00:07<00:00, 22.13it/s]
 92%|█████████▎| 185/200 [00:08<00:00, 20.23it/s]
 94%|█████████▍| 188/200 [00:08<00:00, 19.05it/s]
 96%|█████████▌| 192/200 [00:08<00:00, 22.44it/s]
 98%|█████████▊| 195/200 [00:08<00:00, 22.63it/s]
 99%|█████████▉| 198/200 [00:08<00:00, 23.28it/s]
100%|██████████| 200/200 [00:08<00:00, 22.86it/s]
 Median Scale of 200 frame found to be: 0.6410276895372355
 Fit to reference shape: 

0it [00:00, ?it/s]
6it [00:00, 58.10it/s]
18it [00:00, 90.52it/s]
30it [00:00, 100.50it/s]
43it [00:00, 110.66it/s]
55it [00:00, 112.87it/s]
67it [00:00, 111.10it/s]
79it [00:00, 112.32it/s]
92it [00:00, 114.64it/s]
104it [00:00, 113.90it/s]
116it [00:01, 111.84it/s]
128it [00:01, 112.64it/s]
140it [00:01, 114.33it/s]
153it [00:01, 117.60it/s]
166it [00:01, 118.58it/s]
179it [00:01, 119.39it/s]
191it [00:01, 118.23it/s]
203it [00:01, 117.92it/s]
215it [00:01, 115.46it/s]
227it [00:02, 109.42it/s]
239it [00:02, 111.28it/s]
251it [00:02, 113.67it/s]
264it [00:02, 116.04it/s]
276it [00:02, 115.23it/s]
289it [00:02, 118.57it/s]
302it [00:02, 119.15it/s]
314it [00:02, 116.40it/s]
327it [00:02, 119.61it/s]
339it [00:02, 118.32it/s]
351it [00:03, 112.71it/s]
363it [00:03, 111.14it/s]
376it [00:03, 113.90it/s]
388it [00:03, 114.75it/s]
400it [00:03, 112.51it/s]
412it [00:03, 111.59it/s]
424it [00:03, 110.89it/s]
436it [00:03, 107.67it/s]
447it [00:03, 106.73it/s]
458it [00:04, 105.64it/s]
470it [00:04, 108.50it/s]
481it [00:04, 103.95it/s]
492it [00:04, 99.13it/s] 
504it [00:04, 104.38it/s]
515it [00:04, 102.32it/s]
526it [00:04, 104.21it/s]
538it [00:04, 107.97it/s]
550it [00:04, 108.92it/s]
561it [00:05, 105.00it/s]
573it [00:05, 105.98it/s]
585it [00:05, 107.55it/s]
596it [00:05, 107.49it/s]
608it [00:05, 108.49it/s]
619it [00:05, 107.34it/s]
631it [00:05, 108.50it/s]
643it [00:05, 109.28it/s]
655it [00:05, 111.10it/s]
667it [00:06, 111.86it/s]
679it [00:06, 110.57it/s]
691it [00:06, 108.68it/s]
703it [00:06, 109.93it/s]
715it [00:06, 102.67it/s]
727it [00:06, 106.91it/s]
739it [00:06, 109.24it/s]
751it [00:06, 106.36it/s]
763it [00:06, 109.17it/s]
774it [00:07, 108.32it/s]
785it [00:07, 105.99it/s]
796it [00:07, 100.57it/s]
807it [00:07, 100.65it/s]
818it [00:07, 96.45it/s] 
828it [00:07, 96.20it/s]
840it [00:07, 100.21it/s]
851it [00:07, 100.67it/s]
862it [00:07, 102.87it/s]
873it [00:08, 104.06it/s]
884it [00:08, 97.97it/s] 
895it [00:08, 100.68it/s]
906it [00:08, 102.16it/s]
917it [00:08, 103.24it/s]
929it [00:08, 106.45it/s]
940it [00:08, 106.31it/s]
951it [00:08, 106.43it/s]
962it [00:08, 104.13it/s]
973it [00:08, 100.79it/s]
984it [00:09, 99.01it/s] 
994it [00:09, 98.68it/s]
1006it [00:09, 102.31it/s]
1017it [00:09, 97.71it/s] 
1027it [00:09, 93.40it/s]
1037it [00:09, 95.08it/s]
1047it [00:09, 95.95it/s]
1058it [00:09, 99.38it/s]
1070it [00:09, 103.50it/s]
1081it [00:10, 105.12it/s]
1092it [00:10, 106.43it/s]
1104it [00:10, 109.12it/s]
1115it [00:10, 109.13it/s]
1127it [00:10, 111.28it/s]
1139it [00:10, 110.52it/s]
1151it [00:10, 112.23it/s]
1163it [00:10, 110.57it/s]
1175it [00:10, 110.77it/s]
1187it [00:11, 110.45it/s]
1199it [00:11, 105.31it/s]
1210it [00:11, 104.07it/s]
1221it [00:11, 103.22it/s]
1232it [00:11, 98.84it/s] 
1243it [00:11, 101.77it/s]
1254it [00:11, 103.64it/s]
1266it [00:11, 106.96it/s]
1277it [00:11, 107.37it/s]
1288it [00:12, 104.54it/s]
1299it [00:12, 103.88it/s]
1311it [00:12, 106.15it/s]
1322it [00:12, 104.64it/s]
1333it [00:12, 98.05it/s] 
1344it [00:12, 99.77it/s]
1357it [00:12, 106.28it/s]
1368it [00:12, 106.92it/s]
1379it [00:12, 100.51it/s]
1390it [00:13, 99.85it/s] 
1401it [00:13, 95.69it/s]
1411it [00:13, 91.04it/s]
1423it [00:13, 96.65it/s]
1434it [00:13, 97.00it/s]
1444it [00:13, 97.27it/s]
1456it [00:13, 101.48it/s]
1469it [00:13, 107.06it/s]
1480it [00:13, 104.98it/s]
1492it [00:14, 106.88it/s]
1503it [00:14, 103.62it/s]
1514it [00:14, 104.65it/s]
1525it [00:14, 105.25it/s]
1536it [00:14, 101.35it/s]
1547it [00:14, 98.24it/s] 
1559it [00:14, 101.46it/s]
1570it [00:14, 100.21it/s]
1581it [00:14, 97.04it/s] 
1591it [00:15, 93.51it/s]
1601it [00:15, 89.43it/s]
1613it [00:15, 94.36it/s]
1623it [00:15, 85.13it/s]
1632it [00:15, 76.32it/s]
1641it [00:15, 78.07it/s]
1649it [00:15, 75.75it/s]
1659it [00:15, 79.73it/s]
1668it [00:16, 82.00it/s]
1677it [00:16, 80.95it/s]
1687it [00:16, 84.60it/s]
1696it [00:16, 79.61it/s]
1708it [00:16, 87.86it/s]
1717it [00:16, 88.12it/s]
1728it [00:16, 92.32it/s]
1741it [00:16, 101.42it/s]
1752it [00:16, 101.07it/s]
1763it [00:17, 99.19it/s] 
1774it [00:17, 98.30it/s]
1784it [00:17, 97.50it/s]
1796it [00:17, 103.17it/s]
1808it [00:17, 106.83it/s]
1819it [00:17, 105.37it/s]
1830it [00:17, 102.58it/s]
1843it [00:17, 107.65it/s]
1854it [00:17, 105.83it/s]
1865it [00:17, 101.15it/s]
1877it [00:18, 103.61it/s]
1888it [00:18, 103.49it/s]
1901it [00:18, 109.11it/s]
1912it [00:18, 109.16it/s]
1924it [00:18, 110.91it/s]
1937it [00:18, 113.76it/s]
1949it [00:18, 114.35it/s]
1961it [00:18, 109.25it/s]
1973it [00:18, 111.93it/s]
1985it [00:19, 110.35it/s]
1997it [00:19, 106.85it/s]
2008it [00:19, 99.89it/s] 
2019it [00:19, 99.37it/s]
2030it [00:19, 96.29it/s]
2044it [00:19, 105.89it/s]
2058it [00:19, 112.42it/s]
2071it [00:19, 116.94it/s]
2084it [00:19, 118.27it/s]
2097it [00:20, 121.34it/s]
2112it [00:20, 126.75it/s]
2125it [00:20, 121.62it/s]
2138it [00:20, 118.99it/s]
2152it [00:20, 122.40it/s]
2165it [00:20, 118.40it/s]
2177it [00:20, 115.60it/s]
2189it [00:20, 112.87it/s]
2202it [00:20, 116.79it/s]
2214it [00:21, 112.11it/s]
2226it [00:21, 103.45it/s]
2239it [00:21, 109.05it/s]
2251it [00:21, 111.79it/s]
2264it [00:21, 116.31it/s]
2277it [00:21, 120.11it/s]
2290it [00:21, 119.84it/s]
2303it [00:21, 119.50it/s]
2316it [00:21, 117.26it/s]
2328it [00:22, 111.81it/s]
2342it [00:22, 117.29it/s]
2354it [00:22, 114.11it/s]
2366it [00:22, 113.12it/s]
2378it [00:22, 114.66it/s]
2391it [00:22, 117.39it/s]
2404it [00:22, 119.64it/s]
2416it [00:22, 118.43it/s]
2428it [00:22, 114.90it/s]
2442it [00:23, 120.70it/s]
2455it [00:23, 115.41it/s]
2467it [00:23, 106.98it/s]
2478it [00:23, 101.14it/s]
2489it [00:23, 100.22it/s]
2500it [00:23, 94.15it/s] 
2511it [00:23, 96.44it/s]
2521it [00:23, 90.87it/s]
2531it [00:24, 84.88it/s]
2541it [00:24, 87.52it/s]
2550it [00:24, 79.76it/s]
2559it [00:24, 77.82it/s]
2569it [00:24, 81.42it/s]
2579it [00:24, 85.01it/s]
2590it [00:24, 89.65it/s]
2602it [00:24, 96.47it/s]
2612it [00:24, 92.37it/s]
2624it [00:25, 97.73it/s]
2634it [00:25, 89.14it/s]
2646it [00:25, 96.03it/s]
2656it [00:25, 97.03it/s]
2668it [00:25, 102.89it/s]
2681it [00:25, 110.40it/s]
2693it [00:25, 107.29it/s]
2707it [00:25, 115.20it/s]
2720it [00:25, 117.41it/s]
2732it [00:26, 114.19it/s]
2744it [00:26, 109.75it/s]
2756it [00:26, 112.33it/s]
2768it [00:26, 112.40it/s]
2780it [00:26, 95.39it/s] 
2792it [00:26, 101.23it/s]
2804it [00:26, 106.13it/s]
2816it [00:26, 107.71it/s]
2829it [00:26, 111.82it/s]
2841it [00:27, 112.12it/s]
2854it [00:27, 115.57it/s]
2867it [00:27, 118.08it/s]
2879it [00:27, 117.34it/s]
2891it [00:27, 117.13it/s]
2904it [00:27, 120.19it/s]
2917it [00:27, 121.09it/s]
2930it [00:27, 118.69it/s]
2943it [00:27, 119.24it/s]
2956it [00:28, 121.74it/s]
2969it [00:28, 122.51it/s]
2982it [00:28, 122.02it/s]
2995it [00:28, 117.66it/s]
3008it [00:28, 119.13it/s]
3021it [00:28, 121.66it/s]
3034it [00:28, 121.11it/s]
3047it [00:28, 121.44it/s]
3060it [00:28, 123.31it/s]
3074it [00:28, 127.26it/s]
3087it [00:29, 127.04it/s]
3100it [00:29, 124.42it/s]
3114it [00:29, 127.53it/s]
3127it [00:29, 127.10it/s]
3140it [00:29, 123.01it/s]
3153it [00:29, 122.57it/s]
3166it [00:29, 120.25it/s]
3180it [00:29, 123.40it/s]
3193it [00:29, 118.93it/s]
3205it [00:30, 116.21it/s]
3217it [00:30, 114.52it/s]
3229it [00:30, 109.46it/s]
3243it [00:30, 113.17it/s]
3255it [00:30, 114.05it/s]
3267it [00:30, 113.66it/s]
3279it [00:30, 114.74it/s]
3292it [00:30, 115.84it/s]
3304it [00:30, 114.50it/s]
3316it [00:31, 104.53it/s]
3328it [00:31, 108.38it/s]
3340it [00:31, 110.32it/s]
3353it [00:31, 115.66it/s]
3365it [00:31, 113.58it/s]
3378it [00:31, 116.20it/s]
3391it [00:31, 119.28it/s]
3403it [00:31, 115.67it/s]
3416it [00:31, 117.85it/s]
3428it [00:32, 117.76it/s]
3442it [00:32, 122.20it/s]
3455it [00:32, 124.17it/s]
3469it [00:32, 126.63it/s]
3482it [00:32, 121.97it/s]
3496it [00:32, 125.08it/s]
3509it [00:32, 115.03it/s]
3521it [00:32, 115.32it/s]
3534it [00:32, 118.16it/s]
3546it [00:33, 117.84it/s]
3561it [00:33, 125.10it/s]
3575it [00:33, 126.53it/s]
3588it [00:33, 122.34it/s]
3601it [00:33, 114.88it/s]
3613it [00:33, 108.33it/s]
3626it [00:33, 110.94it/s]
3638it [00:33, 102.10it/s]
3649it [00:33, 101.84it/s]
3660it [00:34, 103.32it/s]
3671it [00:34, 98.39it/s] 
3681it [00:34, 92.96it/s]
3691it [00:34, 88.61it/s]
3703it [00:34, 94.69it/s]
3714it [00:34, 97.16it/s]
3724it [00:34, 95.71it/s]
3735it [00:34, 98.05it/s]
3745it [00:34, 97.37it/s]
3757it [00:35, 101.98it/s]
3768it [00:35, 101.33it/s]
3779it [00:35, 98.82it/s] 
3789it [00:35, 93.86it/s]
3799it [00:35, 93.45it/s]
3811it [00:35, 99.24it/s]
3821it [00:35, 95.81it/s]
3831it [00:35, 94.01it/s]
3842it [00:35, 97.26it/s]
3853it [00:36, 100.66it/s]
3864it [00:36, 102.06it/s]
3875it [00:36, 103.95it/s]
3886it [00:36, 99.21it/s] 
3896it [00:36, 91.73it/s]
3908it [00:36, 97.61it/s]
3919it [00:36, 100.53it/s]
3931it [00:36, 104.11it/s]
3943it [00:36, 106.51it/s]
3956it [00:37, 112.23it/s]
3968it [00:37, 94.40it/s] 
3978it [00:37, 93.63it/s]
3988it [00:37, 89.76it/s]
3998it [00:37, 87.52it/s]
4010it [00:37, 95.59it/s]
4021it [00:37, 99.32it/s]
4032it [00:37, 98.66it/s]
4044it [00:37, 103.52it/s]
4055it [00:38, 96.90it/s] 
4067it [00:38, 102.58it/s]
4079it [00:38, 105.03it/s]
4091it [00:38, 107.75it/s]
4102it [00:38, 106.94it/s]
4113it [00:38, 94.86it/s] 
4125it [00:38, 98.57it/s]
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Track data saved to /working/a090cf5e-b51a-4946-ad41-4a0fad6d727f/processing/data/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/a090cf5e-b51a-4946-ad41-4a0fad6d727f/processing/data/laser_aligned.ptd.cbor