=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
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 -=-=-=-=-=-=-
2025-12-22T03:51:20 - INFO:  Reading sonar track took 0.15200281143188477 sec!
2025-12-22T03:51:20 - INFO:  Reading sonar alignment track took {0.0036172866821289062} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  2%|▏         | 3/200 [00:00<00:10, 18.94it/s]
  3%|▎         | 6/200 [00:00<00:09, 21.16it/s]
  4%|▍         | 9/200 [00:00<00:09, 20.78it/s]
  6%|▌         | 12/200 [00:00<00:08, 21.87it/s]
  8%|▊         | 16/200 [00:00<00:07, 23.23it/s]
 10%|▉         | 19/200 [00:00<00:07, 24.15it/s]
 11%|█         | 22/200 [00:00<00:07, 24.08it/s]
 12%|█▎        | 25/200 [00:01<00:07, 23.78it/s]
 14%|█▍        | 28/200 [00:01<00:07, 24.44it/s]
 16%|█▌        | 31/200 [00:01<00:07, 24.00it/s]
 17%|█▋        | 34/200 [00:01<00:06, 24.73it/s]
 18%|█▊        | 37/200 [00:01<00:06, 23.67it/s]
 20%|██        | 40/200 [00:01<00:06, 24.87it/s]
 22%|██▏       | 43/200 [00:01<00:06, 25.68it/s]
 23%|██▎       | 46/200 [00:01<00:05, 26.60it/s]
 24%|██▍       | 49/200 [00:02<00:05, 26.44it/s]
 26%|██▌       | 52/200 [00:02<00:05, 24.92it/s]
 28%|██▊       | 55/200 [00:02<00:05, 25.15it/s]
 29%|██▉       | 58/200 [00:02<00:05, 26.10it/s]
 31%|███       | 62/200 [00:02<00:05, 25.66it/s]
 32%|███▎      | 65/200 [00:02<00:05, 25.44it/s]
 34%|███▍      | 68/200 [00:02<00:05, 24.83it/s]
 36%|███▌      | 71/200 [00:02<00:05, 22.70it/s]
 37%|███▋      | 74/200 [00:03<00:05, 22.06it/s]
 38%|███▊      | 77/200 [00:03<00:05, 21.48it/s]
 40%|████      | 80/200 [00:03<00:05, 22.37it/s]
 42%|████▏     | 83/200 [00:03<00:05, 22.90it/s]
 43%|████▎     | 86/200 [00:03<00:04, 24.13it/s]
 45%|████▌     | 90/200 [00:03<00:04, 26.09it/s]
 46%|████▋     | 93/200 [00:03<00:03, 26.79it/s]
 48%|████▊     | 96/200 [00:03<00:04, 24.82it/s]
 50%|████▉     | 99/200 [00:04<00:03, 25.37it/s]
 51%|█████     | 102/200 [00:04<00:04, 23.69it/s]
 52%|█████▎    | 105/200 [00:04<00:03, 24.03it/s]
 54%|█████▍    | 108/200 [00:04<00:03, 24.09it/s]
 56%|█████▌    | 111/200 [00:04<00:03, 25.12it/s]
 57%|█████▋    | 114/200 [00:04<00:03, 25.61it/s]
 59%|█████▉    | 118/200 [00:04<00:03, 27.16it/s]
 60%|██████    | 121/200 [00:05<00:03, 22.10it/s]
 62%|██████▏   | 124/200 [00:05<00:03, 22.94it/s]
 64%|██████▎   | 127/200 [00:05<00:03, 23.92it/s]
 65%|██████▌   | 130/200 [00:05<00:02, 23.55it/s]
 66%|██████▋   | 133/200 [00:05<00:02, 24.79it/s]
 68%|██████▊   | 136/200 [00:05<00:02, 25.11it/s]
 70%|██████▉   | 139/200 [00:05<00:02, 25.72it/s]
 71%|███████   | 142/200 [00:05<00:02, 25.78it/s]
 72%|███████▎  | 145/200 [00:05<00:02, 26.71it/s]
 74%|███████▍  | 148/200 [00:06<00:02, 25.30it/s]
 76%|███████▌  | 151/200 [00:06<00:01, 24.60it/s]
 77%|███████▋  | 154/200 [00:06<00:01, 23.71it/s]
 78%|███████▊  | 157/200 [00:06<00:01, 23.98it/s]
 80%|████████  | 161/200 [00:06<00:01, 25.90it/s]
 82%|████████▏ | 164/200 [00:06<00:01, 25.91it/s]
 84%|████████▎ | 167/200 [00:06<00:01, 24.84it/s]
 86%|████████▌ | 171/200 [00:06<00:01, 25.93it/s]
 87%|████████▋ | 174/200 [00:07<00:01, 25.53it/s]
 88%|████████▊ | 177/200 [00:07<00:00, 24.90it/s]
 90%|█████████ | 180/200 [00:07<00:00, 23.61it/s]
 92%|█████████▏| 183/200 [00:07<00:00, 21.72it/s]
 93%|█████████▎| 186/200 [00:07<00:00, 22.27it/s]
 94%|█████████▍| 189/200 [00:07<00:00, 23.41it/s]
 96%|█████████▌| 192/200 [00:07<00:00, 23.69it/s]
 98%|█████████▊| 195/200 [00:08<00:00, 23.36it/s]
 99%|█████████▉| 198/200 [00:08<00:00, 23.06it/s]
100%|██████████| 200/200 [00:08<00:00, 24.00it/s]
 Median Scale of 200 frame found to be: 0.9045658002547818
 Fit to reference shape: 

0it [00:00, ?it/s]
4it [00:00, 22.95it/s]
7it [00:00, 25.76it/s]
15it [00:00, 45.51it/s]
24it [00:00, 58.64it/s]
33it [00:00, 68.82it/s]
42it [00:00, 74.91it/s]
52it [00:00, 82.44it/s]
62it [00:00, 87.63it/s]
72it [00:01, 90.79it/s]
82it [00:01, 83.95it/s]
91it [00:01, 85.61it/s]
101it [00:01, 88.78it/s]
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120it [00:01, 91.69it/s]
130it [00:01, 93.59it/s]
140it [00:01, 95.34it/s]
151it [00:01, 98.45it/s]
162it [00:01, 101.02it/s]
173it [00:02, 98.52it/s] 
184it [00:02, 99.83it/s]
195it [00:02, 100.79it/s]
207it [00:02, 103.48it/s]
218it [00:02, 101.00it/s]
230it [00:02, 102.37it/s]
241it [00:02, 103.93it/s]
252it [00:02, 102.88it/s]
263it [00:02, 102.30it/s]
274it [00:03, 98.06it/s] 
285it [00:03, 100.46it/s]
296it [00:03, 97.16it/s] 
306it [00:03, 95.51it/s]
316it [00:03, 94.28it/s]
328it [00:03, 95.44it/s]
339it [00:03, 96.45it/s]
349it [00:03, 94.87it/s]
361it [00:03, 100.10it/s]
372it [00:04, 101.49it/s]
383it [00:04, 103.37it/s]
395it [00:04, 106.85it/s]
407it [00:04, 109.01it/s]
418it [00:04, 103.04it/s]
429it [00:04, 102.67it/s]
442it [00:04, 108.89it/s]
454it [00:04, 109.26it/s]
466it [00:04, 109.82it/s]
478it [00:05, 109.54it/s]
489it [00:05, 106.70it/s]
500it [00:05, 103.90it/s]
511it [00:05, 99.09it/s] 
523it [00:05, 102.38it/s]
534it [00:05, 101.84it/s]
545it [00:05, 99.90it/s] 
556it [00:05, 95.97it/s]
566it [00:05, 93.03it/s]
577it [00:06, 96.81it/s]
588it [00:06, 98.30it/s]
598it [00:06, 97.07it/s]
608it [00:06, 95.07it/s]
619it [00:06, 97.00it/s]
630it [00:06, 99.40it/s]
640it [00:06, 98.97it/s]
650it [00:06, 86.70it/s]
659it [00:06, 85.36it/s]
668it [00:07, 82.14it/s]
677it [00:07, 82.51it/s]
686it [00:07, 84.31it/s]
695it [00:07, 85.50it/s]
705it [00:07, 87.01it/s]
714it [00:07, 76.84it/s]
725it [00:07, 84.62it/s]
735it [00:07, 87.75it/s]
744it [00:07, 87.30it/s]
753it [00:08, 84.41it/s]
762it [00:08, 85.50it/s]
771it [00:08, 86.15it/s]
780it [00:08, 76.95it/s]
788it [00:08, 74.31it/s]
797it [00:08, 77.07it/s]
805it [00:08, 77.85it/s]
814it [00:08, 79.05it/s]
822it [00:08, 74.41it/s]
830it [00:09, 71.49it/s]
838it [00:09, 73.15it/s]
847it [00:09, 76.54it/s]
855it [00:09, 77.14it/s]
864it [00:09, 79.34it/s]
873it [00:09, 81.38it/s]
883it [00:09, 84.54it/s]
894it [00:09, 89.87it/s]
903it [00:09, 89.06it/s]
913it [00:10, 89.83it/s]
922it [00:10, 86.82it/s]
933it [00:10, 91.61it/s]
944it [00:10, 94.36it/s]
954it [00:10, 90.87it/s]
966it [00:10, 89.94it/s]
978it [00:10, 97.45it/s]
989it [00:10, 99.09it/s]
1002it [00:10, 106.49it/s]
1013it [00:11, 105.43it/s]
1024it [00:11, 99.75it/s] 
1036it [00:11, 102.76it/s]
1049it [00:11, 109.10it/s]
1060it [00:11, 108.67it/s]
1073it [00:11, 112.77it/s]
1085it [00:11, 109.51it/s]
1097it [00:11, 108.82it/s]
1108it [00:11, 102.55it/s]
1119it [00:12, 101.09it/s]
1130it [00:12, 102.38it/s]
1141it [00:12, 101.73it/s]
1152it [00:12, 103.67it/s]
1163it [00:12, 99.06it/s] 
1173it [00:12, 98.93it/s]
1183it [00:12, 92.76it/s]
1194it [00:12, 94.06it/s]
1205it [00:12, 98.18it/s]
1217it [00:13, 101.90it/s]
1228it [00:13, 103.73it/s]
1239it [00:13, 104.64it/s]
1250it [00:13, 104.51it/s]
1261it [00:13, 94.63it/s] 
1271it [00:13, 93.34it/s]
1281it [00:13, 82.99it/s]
1290it [00:13, 84.09it/s]
1299it [00:14, 74.00it/s]
1308it [00:14, 76.65it/s]
1319it [00:14, 85.19it/s]
1328it [00:14, 85.11it/s]
1339it [00:14, 90.39it/s]
1351it [00:14, 97.17it/s]
1361it [00:14, 97.42it/s]
1372it [00:14, 98.32it/s]
1383it [00:14, 98.83it/s]
1393it [00:15, 95.72it/s]
1403it [00:15, 92.58it/s]
1413it [00:15, 93.48it/s]
1424it [00:15, 95.14it/s]
1434it [00:15, 89.15it/s]
1446it [00:15, 96.04it/s]
1457it [00:15, 99.42it/s]
1468it [00:15, 96.49it/s]
1478it [00:15, 96.58it/s]
1488it [00:16, 94.05it/s]
1499it [00:16, 97.70it/s]
1510it [00:16, 100.86it/s]
1521it [00:16, 101.60it/s]
1532it [00:16, 99.58it/s] 
1543it [00:16, 101.91it/s]
1554it [00:16, 99.87it/s] 
1565it [00:16, 100.06it/s]
1576it [00:16, 99.21it/s] 
1588it [00:16, 104.87it/s]
1599it [00:17, 104.76it/s]
1610it [00:17, 104.20it/s]
1621it [00:17, 104.83it/s]
1632it [00:17, 105.79it/s]
1644it [00:17, 108.23it/s]
1657it [00:17, 113.32it/s]
1669it [00:17, 105.65it/s]
1680it [00:17, 104.42it/s]
1692it [00:17, 107.33it/s]
1704it [00:18, 109.16it/s]
1715it [00:18, 108.75it/s]
1726it [00:18, 108.48it/s]
1737it [00:18, 107.10it/s]
1749it [00:18, 109.05it/s]
1760it [00:18, 104.87it/s]
1771it [00:18, 103.05it/s]
1782it [00:18, 104.07it/s]
1793it [00:18, 93.35it/s] 
1804it [00:19, 95.89it/s]
1815it [00:19, 97.44it/s]
1827it [00:19, 100.74it/s]
1839it [00:19, 104.07it/s]
1852it [00:19, 108.06it/s]
1863it [00:19, 104.66it/s]
1874it [00:19, 104.01it/s]
1885it [00:19, 96.67it/s] 
1896it [00:19, 99.66it/s]
1907it [00:20, 101.09it/s]
1918it [00:20, 102.45it/s]
1929it [00:20, 103.78it/s]
1940it [00:20, 100.24it/s]
1951it [00:20, 90.02it/s] 
1963it [00:20, 95.42it/s]
1973it [00:20, 94.91it/s]
1983it [00:20, 92.09it/s]
1995it [00:20, 98.13it/s]
2007it [00:21, 101.76it/s]
2018it [00:21, 102.98it/s]
2029it [00:21, 104.83it/s]
2040it [00:21, 104.76it/s]
2051it [00:21, 93.10it/s] 
2061it [00:21, 91.97it/s]
2073it [00:21, 97.78it/s]
2084it [00:21, 100.96it/s]
2095it [00:21, 94.57it/s] 
2105it [00:22, 89.20it/s]
2116it [00:22, 92.99it/s]
2127it [00:22, 95.85it/s]
2138it [00:22, 98.49it/s]
2148it [00:22, 94.49it/s]
2159it [00:22, 97.50it/s]
2170it [00:22, 100.81it/s]
2182it [00:22, 105.10it/s]
2193it [00:22, 101.79it/s]
2204it [00:23, 93.39it/s] 
2214it [00:23, 94.12it/s]
2224it [00:23, 94.10it/s]
2235it [00:23, 97.87it/s]
2247it [00:23, 101.02it/s]
2259it [00:23, 105.08it/s]
2272it [00:23, 109.64it/s]
2284it [00:23, 106.29it/s]
2295it [00:23, 102.92it/s]
2306it [00:24, 104.70it/s]
2318it [00:24, 108.26it/s]
2330it [00:24, 109.46it/s]
2342it [00:24, 112.29it/s]
2354it [00:24, 113.94it/s]
2366it [00:24, 113.84it/s]
2378it [00:24, 109.13it/s]
2389it [00:24, 98.69it/s] 
2400it [00:24, 96.77it/s]
2410it [00:25, 94.58it/s]
2422it [00:25, 99.03it/s]
2434it [00:25, 103.16it/s]
2447it [00:25, 108.99it/s]
2459it [00:25, 108.00it/s]
2471it [00:25, 110.71it/s]
2483it [00:25, 111.14it/s]
2495it [00:25, 109.57it/s]
2506it [00:25, 106.94it/s]
2517it [00:26, 106.20it/s]
2528it [00:26, 105.52it/s]
2540it [00:26, 108.12it/s]
2552it [00:26, 109.53it/s]
2563it [00:26, 98.62it/s] 
2574it [00:26, 100.99it/s]
2585it [00:26, 93.39it/s] 
2595it [00:26, 93.16it/s]
2605it [00:26, 91.07it/s]
2615it [00:27, 93.01it/s]
2625it [00:27, 93.57it/s]
2635it [00:27, 89.97it/s]
2648it [00:27, 100.90it/s]
2659it [00:27, 98.10it/s] 
2669it [00:27, 95.50it/s]
2681it [00:27, 101.05it/s]
2692it [00:27, 99.24it/s] 
2703it [00:27, 99.96it/s]
2714it [00:28, 98.63it/s]
2724it [00:28, 93.97it/s]
2734it [00:28, 93.76it/s]
2744it [00:28, 94.14it/s]
2754it [00:28, 89.47it/s]
2765it [00:28, 94.48it/s]
2776it [00:28, 98.63it/s]
2786it [00:28, 97.43it/s]
2796it [00:28, 95.83it/s]
2806it [00:29, 95.87it/s]
2818it [00:29, 100.46it/s]
2830it [00:29, 104.56it/s]
2841it [00:29, 97.64it/s] 
2852it [00:29, 99.58it/s]
2864it [00:29, 104.55it/s]
2875it [00:29, 104.66it/s]
2886it [00:29, 101.37it/s]
2898it [00:29, 105.53it/s]
2909it [00:30, 99.03it/s] 
2920it [00:30, 98.27it/s]
2932it [00:30, 103.28it/s]
2944it [00:30, 106.65it/s]
2955it [00:30, 106.47it/s]
2966it [00:30, 106.90it/s]
2978it [00:30, 108.71it/s]
2989it [00:30, 105.65it/s]
3000it [00:30, 103.37it/s]
3011it [00:31, 100.61it/s]
3022it [00:31, 99.95it/s] 
3035it [00:31, 106.71it/s]
3047it [00:31, 107.82it/s]
3060it [00:31, 112.61it/s]
3072it [00:31, 114.69it/s]
3085it [00:31, 116.07it/s]
3097it [00:31, 111.91it/s]
3109it [00:31, 100.47it/s]
3120it [00:32, 99.50it/s] 
3132it [00:32, 102.48it/s]
3143it [00:32, 102.76it/s]
3154it [00:32, 96.26it/s] 
3164it [00:32, 91.01it/s]
3174it [00:32, 92.23it/s]
3187it [00:32, 101.61it/s]
3199it [00:32, 105.38it/s]
3210it [00:32, 102.71it/s]
3223it [00:33, 109.99it/s]
3235it [00:33, 111.13it/s]
3247it [00:33, 110.24it/s]
3259it [00:33, 110.09it/s]
3271it [00:33, 102.72it/s]
3282it [00:33, 97.62it/s] 
3292it [00:33, 95.53it/s]
3304it [00:33, 100.84it/s]
3316it [00:33, 104.59it/s]
3327it [00:34, 103.62it/s]
3339it [00:34, 105.75it/s]
3350it [00:34, 99.66it/s] 
3361it [00:34, 96.14it/s]
3371it [00:34, 94.84it/s]
3381it [00:34, 83.75it/s]
3392it [00:34, 88.34it/s]
3402it [00:34, 87.95it/s]
3412it [00:35, 90.73it/s]
3422it [00:35, 87.32it/s]
3432it [00:35, 90.44it/s]
3442it [00:35, 88.09it/s]
3453it [00:35, 93.84it/s]
3464it [00:35, 97.64it/s]
3474it [00:35, 95.59it/s]
3485it [00:35, 98.91it/s]
3498it [00:35, 106.94it/s]
3509it [00:36, 98.47it/s] 
3520it [00:36, 97.33it/s]
3532it [00:36, 102.80it/s]
3544it [00:36, 106.05it/s]
3555it [00:36, 107.04it/s]
3566it [00:36, 101.42it/s]
3578it [00:36, 105.59it/s]
3591it [00:36, 111.43it/s]
3603it [00:36, 112.24it/s]
3615it [00:37, 111.23it/s]
3627it [00:37, 112.13it/s]
3639it [00:37, 109.70it/s]
3652it [00:37, 114.67it/s]
3665it [00:37, 116.14it/s]
3677it [00:37, 111.85it/s]
3689it [00:37, 109.09it/s]
3702it [00:37, 114.13it/s]
3715it [00:37, 117.53it/s]
3727it [00:37, 114.34it/s]
3739it [00:38, 114.12it/s]
3751it [00:38, 107.90it/s]
3762it [00:38, 98.66it/s] 
3773it [00:38, 95.23it/s]
3783it [00:38, 90.40it/s]
3793it [00:38, 89.97it/s]
3803it [00:38, 77.21it/s]
3812it [00:38, 79.84it/s]
3824it [00:39, 88.51it/s]
3835it [00:39, 92.72it/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