=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.9
Input file:  /working/d5b6ab98-7f60-4106-a1a7-cb1ca80068ea/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 -=-=-=-=-=-=-
2025-12-22T03:57:49 - INFO:  Reading sonar track took 0.43270039558410645 sec!
2025-12-22T03:57:49 - INFO:  Reading sonar alignment track took {0.0005793571472167969} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  2%|▏         | 3/200 [00:00<00:06, 29.11it/s]
  4%|▎         | 7/200 [00:00<00:06, 29.67it/s]
  6%|▌         | 12/200 [00:00<00:05, 35.34it/s]
  8%|▊         | 17/200 [00:00<00:04, 37.28it/s]
 11%|█         | 22/200 [00:00<00:04, 38.10it/s]
 13%|█▎        | 26/200 [00:00<00:04, 35.71it/s]
 15%|█▌        | 30/200 [00:00<00:04, 35.88it/s]
 17%|█▋        | 34/200 [00:00<00:04, 35.04it/s]
 19%|█▉        | 38/200 [00:01<00:05, 27.34it/s]
 20%|██        | 41/200 [00:01<00:06, 25.76it/s]
 22%|██▏       | 44/200 [00:01<00:06, 22.32it/s]
 24%|██▎       | 47/200 [00:01<00:07, 21.84it/s]
 25%|██▌       | 50/200 [00:01<00:07, 19.99it/s]
 26%|██▋       | 53/200 [00:02<00:07, 18.49it/s]
 28%|██▊       | 55/200 [00:02<00:07, 18.22it/s]
 28%|██▊       | 57/200 [00:02<00:07, 18.02it/s]
 30%|██▉       | 59/200 [00:02<00:07, 18.19it/s]
 30%|███       | 61/200 [00:02<00:07, 18.56it/s]
 32%|███▏      | 64/200 [00:02<00:06, 19.82it/s]
 33%|███▎      | 66/200 [00:02<00:07, 17.36it/s]
 34%|███▍      | 68/200 [00:02<00:07, 16.62it/s]
 35%|███▌      | 70/200 [00:03<00:08, 16.18it/s]
 36%|███▌      | 72/200 [00:03<00:08, 15.67it/s]
 37%|███▋      | 74/200 [00:03<00:07, 15.99it/s]
 38%|███▊      | 76/200 [00:03<00:07, 16.54it/s]
 39%|███▉      | 78/200 [00:03<00:07, 17.33it/s]
 40%|████      | 81/200 [00:03<00:06, 18.83it/s]
 42%|████▏     | 84/200 [00:03<00:05, 19.69it/s]
 43%|████▎     | 86/200 [00:03<00:05, 19.12it/s]
 44%|████▍     | 88/200 [00:04<00:06, 17.95it/s]
 45%|████▌     | 90/200 [00:04<00:06, 17.90it/s]
 46%|████▌     | 92/200 [00:04<00:05, 18.09it/s]
 48%|████▊     | 95/200 [00:04<00:05, 18.48it/s]
 48%|████▊     | 97/200 [00:04<00:05, 17.30it/s]
 50%|████▉     | 99/200 [00:04<00:06, 16.41it/s]
 50%|█████     | 101/200 [00:04<00:06, 16.26it/s]
 52%|█████▏    | 103/200 [00:04<00:05, 16.58it/s]
 52%|█████▎    | 105/200 [00:05<00:05, 16.26it/s]
 54%|█████▍    | 108/200 [00:05<00:05, 17.76it/s]
 55%|█████▌    | 110/200 [00:05<00:05, 17.06it/s]
 56%|█████▌    | 112/200 [00:05<00:05, 16.79it/s]
 57%|█████▋    | 114/200 [00:05<00:05, 16.35it/s]
 58%|█████▊    | 117/200 [00:05<00:04, 17.44it/s]
 60%|██████    | 120/200 [00:05<00:04, 18.50it/s]
 61%|██████    | 122/200 [00:05<00:04, 17.79it/s]
 62%|██████▎   | 125/200 [00:06<00:04, 18.60it/s]
 64%|██████▍   | 128/200 [00:06<00:03, 18.34it/s]
 65%|██████▌   | 130/200 [00:06<00:04, 14.95it/s]
 66%|██████▌   | 132/200 [00:06<00:04, 15.29it/s]
 67%|██████▋   | 134/200 [00:06<00:04, 15.49it/s]
 68%|██████▊   | 136/200 [00:06<00:04, 15.51it/s]
 70%|██████▉   | 139/200 [00:07<00:03, 16.16it/s]
 71%|███████   | 142/200 [00:07<00:03, 17.01it/s]
 72%|███████▏  | 144/200 [00:07<00:03, 16.92it/s]
 73%|███████▎  | 146/200 [00:07<00:03, 15.25it/s]
 74%|███████▍  | 148/200 [00:07<00:03, 16.30it/s]
 75%|███████▌  | 150/200 [00:07<00:02, 17.13it/s]
 76%|███████▌  | 152/200 [00:07<00:02, 16.14it/s]
 77%|███████▋  | 154/200 [00:08<00:03, 14.76it/s]
 78%|███████▊  | 156/200 [00:08<00:02, 15.64it/s]
 80%|███████▉  | 159/200 [00:08<00:02, 17.40it/s]
 80%|████████  | 161/200 [00:08<00:02, 17.78it/s]
 82%|████████▏ | 163/200 [00:08<00:02, 17.61it/s]
 82%|████████▎ | 165/200 [00:08<00:01, 17.77it/s]
 84%|████████▎ | 167/200 [00:08<00:01, 17.81it/s]
 85%|████████▌ | 170/200 [00:08<00:01, 18.99it/s]
 86%|████████▋ | 173/200 [00:09<00:01, 19.17it/s]
 88%|████████▊ | 175/200 [00:09<00:01, 18.86it/s]
 88%|████████▊ | 177/200 [00:09<00:01, 17.48it/s]
 90%|████████▉ | 179/200 [00:09<00:01, 17.34it/s]
 90%|█████████ | 181/200 [00:09<00:01, 17.04it/s]
 92%|█████████▏| 183/200 [00:09<00:00, 17.03it/s]
 92%|█████████▎| 185/200 [00:09<00:00, 17.79it/s]
 94%|█████████▎| 187/200 [00:09<00:00, 17.14it/s]
 95%|█████████▌| 190/200 [00:09<00:00, 18.58it/s]
 96%|█████████▋| 193/200 [00:10<00:00, 20.06it/s]
 98%|█████████▊| 196/200 [00:10<00:00, 19.25it/s]
 99%|█████████▉| 198/200 [00:10<00:00, 18.93it/s]
100%|██████████| 200/200 [00:10<00:00, 19.11it/s]
 Median Scale of 200 frame found to be: 1.038993617514321
 Fit to reference shape: 

0it [00:00, ?it/s]
13it [00:00, 128.42it/s]
26it [00:00, 119.94it/s]
41it [00:00, 130.90it/s]
56it [00:00, 136.40it/s]
70it [00:00, 127.87it/s]
83it [00:00, 120.17it/s]
96it [00:00, 114.93it/s]
111it [00:00, 123.12it/s]
126it [00:00, 130.54it/s]
140it [00:01, 119.41it/s]
153it [00:01, 120.73it/s]
168it [00:01, 128.48it/s]
182it [00:01, 129.68it/s]
196it [00:01, 108.27it/s]
209it [00:01, 112.86it/s]
221it [00:01, 99.50it/s] 
238it [00:01, 114.57it/s]
251it [00:02, 118.02it/s]
264it [00:02, 118.45it/s]
278it [00:02, 119.20it/s]
291it [00:02, 113.40it/s]
303it [00:02, 113.01it/s]
315it [00:02, 104.48it/s]
326it [00:02, 97.74it/s] 
336it [00:02, 95.18it/s]
346it [00:03, 94.25it/s]
356it [00:03, 91.71it/s]
367it [00:03, 94.07it/s]
377it [00:03, 92.25it/s]
387it [00:03, 92.38it/s]
397it [00:03, 84.71it/s]
406it [00:03, 84.27it/s]
415it [00:03, 82.65it/s]
424it [00:03, 83.25it/s]
433it [00:04, 82.38it/s]
442it [00:04, 83.91it/s]
451it [00:04, 80.97it/s]
460it [00:04, 79.02it/s]
471it [00:04, 86.69it/s]
484it [00:04, 97.88it/s]
494it [00:04, 92.41it/s]
504it [00:04, 91.13it/s]
516it [00:04, 96.88it/s]
528it [00:05, 101.94it/s]
539it [00:05, 89.47it/s] 
549it [00:05, 88.95it/s]
560it [00:05, 92.81it/s]
570it [00:05, 93.51it/s]
580it [00:05, 91.15it/s]
590it [00:05, 90.74it/s]
600it [00:05, 80.11it/s]
609it [00:06, 82.29it/s]
624it [00:06, 99.90it/s]
639it [00:06, 110.39it/s]
656it [00:06, 125.56it/s]
670it [00:06, 129.34it/s]
684it [00:06, 121.19it/s]
699it [00:06, 126.79it/s]
716it [00:06, 133.02it/s]
730it [00:06, 132.01it/s]
746it [00:07, 137.97it/s]
760it [00:07, 116.88it/s]
775it [00:07, 122.84it/s]
790it [00:07, 128.82it/s]
804it [00:07, 123.65it/s]
820it [00:07, 131.11it/s]
834it [00:07, 125.62it/s]
847it [00:07, 118.14it/s]
861it [00:07, 122.06it/s]
875it [00:08, 125.80it/s]
888it [00:08, 114.64it/s]
904it [00:08, 122.53it/s]
919it [00:08, 129.29it/s]
935it [00:08, 134.38it/s]
951it [00:08, 139.40it/s]
966it [00:08, 142.01it/s]
981it [00:08, 134.13it/s]
995it [00:09, 120.05it/s]
1008it [00:09, 115.04it/s]
1023it [00:09, 122.58it/s]
1036it [00:09, 103.39it/s]
1051it [00:09, 114.41it/s]
1064it [00:09, 116.94it/s]
1077it [00:09, 106.76it/s]
1090it [00:09, 111.19it/s]
1107it [00:10, 126.39it/s]
1121it [00:10, 113.93it/s]
1133it [00:10, 110.98it/s]
1145it [00:10, 110.26it/s]
1160it [00:10, 120.33it/s]
1173it [00:10, 112.53it/s]
1189it [00:10, 123.21it/s]
1202it [00:10, 119.37it/s]
1215it [00:10, 121.38it/s]
1229it [00:11, 120.46it/s]
1242it [00:11, 120.48it/s]
1257it [00:11, 123.66it/s]
1270it [00:11, 121.47it/s]
1284it [00:11, 126.38it/s]
1299it [00:11, 128.32it/s]
1312it [00:11, 120.22it/s]
1325it [00:11, 119.77it/s]
1340it [00:11, 123.23it/s]
1355it [00:12, 128.97it/s]
1368it [00:12, 122.95it/s]
1382it [00:12, 126.13it/s]
1396it [00:12, 128.62it/s]
1409it [00:12, 111.73it/s]
1423it [00:12, 117.82it/s]
1436it [00:12, 111.67it/s]
1448it [00:12, 106.70it/s]
1459it [00:13, 102.94it/s]
1474it [00:13, 114.30it/s]
1486it [00:13, 107.82it/s]
1498it [00:13, 107.89it/s]
1510it [00:13, 110.15it/s]
1522it [00:13, 110.11it/s]
1537it [00:13, 114.28it/s]
1549it [00:13, 115.00it/s]
1561it [00:13, 99.82it/s] 
1574it [00:14, 104.16it/s]
1586it [00:14, 106.63it/s]
1597it [00:14, 100.40it/s]
1608it [00:14, 97.46it/s] 
1618it [00:14, 94.73it/s]
1628it [00:14, 94.15it/s]
1640it [00:14, 97.83it/s]
1650it [00:14, 87.53it/s]
1660it [00:15, 83.87it/s]
1669it [00:15, 81.68it/s]
1682it [00:15, 92.69it/s]
1695it [00:15, 98.26it/s]
1705it [00:15, 97.98it/s]
1718it [00:15, 105.87it/s]
1729it [00:15, 92.00it/s] 
1741it [00:15, 92.04it/s]
1753it [00:15, 98.62it/s]
1766it [00:16, 106.58it/s]
1782it [00:16, 120.79it/s]
1795it [00:16, 118.77it/s]
1809it [00:16, 120.98it/s]
1822it [00:16, 117.47it/s]
1834it [00:16, 112.23it/s]
1846it [00:16, 110.52it/s]
1862it [00:16, 122.37it/s]
1875it [00:16, 115.57it/s]
1889it [00:17, 120.98it/s]
1902it [00:17, 115.28it/s]
1914it [00:17, 107.80it/s]
1925it [00:17, 102.15it/s]
1936it [00:17, 103.23it/s]
1947it [00:17, 96.50it/s] 
1957it [00:17, 95.01it/s]
1970it [00:17, 99.50it/s]
1982it [00:18, 100.66it/s]
1993it [00:18, 102.70it/s]
2005it [00:18, 102.96it/s]
2022it [00:18, 119.04it/s]
2034it [00:18, 115.30it/s]
2046it [00:18, 114.75it/s]
2058it [00:18, 111.44it/s]
2071it [00:18, 115.71it/s]
2083it [00:18, 104.43it/s]
2097it [00:19, 109.90it/s]
2109it [00:19, 107.09it/s]
2120it [00:19, 100.42it/s]
2136it [00:19, 115.91it/s]
2152it [00:19, 127.08it/s]
2166it [00:19, 127.94it/s]
2180it [00:19, 125.54it/s]
2193it [00:19, 122.46it/s]
2206it [00:20, 103.73it/s]
2219it [00:20, 109.86it/s]
2234it [00:20, 117.03it/s]
2247it [00:20, 117.54it/s]
2263it [00:20, 128.96it/s]
2277it [00:20, 116.98it/s]
2290it [00:20, 118.76it/s]
2303it [00:20, 121.18it/s]
2316it [00:20, 116.66it/s]
2328it [00:21, 103.30it/s]
2339it [00:21, 104.68it/s]
2350it [00:21, 85.60it/s] 
2364it [00:21, 96.86it/s]
2377it [00:21, 100.73it/s]
2388it [00:21, 93.82it/s] 
2404it [00:21, 107.97it/s]
2417it [00:21, 113.16it/s]
2429it [00:22, 105.44it/s]
2440it [00:22, 103.94it/s]
2451it [00:22, 100.31it/s]
2462it [00:22, 94.83it/s] 
2474it [00:22, 100.62it/s]
2485it [00:22, 98.62it/s] 
2495it [00:22, 94.30it/s]
2510it [00:22, 108.00it/s]
2521it [00:22, 104.70it/s]
2532it [00:23, 103.17it/s]
2544it [00:23, 105.74it/s]
2555it [00:23, 101.82it/s]
2566it [00:23, 99.66it/s] 
2577it [00:23, 86.44it/s]
2587it [00:23, 86.39it/s]
2601it [00:23, 99.16it/s]
2612it [00:23, 96.69it/s]
2622it [00:24, 94.60it/s]
2634it [00:24, 94.89it/s]
2645it [00:24, 96.88it/s]
2656it [00:24, 100.26it/s]
2669it [00:24, 103.68it/s]
2683it [00:24, 113.08it/s]
2695it [00:24, 110.51it/s]
2709it [00:24, 117.69it/s]
2721it [00:24, 102.94it/s]
2732it [00:25, 96.13it/s] 
2745it [00:25, 104.24it/s]
2756it [00:25, 104.90it/s]
2768it [00:25, 108.11it/s]
2780it [00:25, 109.80it/s]
2792it [00:25, 110.94it/s]
2806it [00:25, 115.88it/s]
2821it [00:25, 123.46it/s]
2834it [00:25, 115.47it/s]
2851it [00:26, 128.91it/s]
2866it [00:26, 133.28it/s]
2880it [00:26, 122.74it/s]
2894it [00:26, 126.76it/s]
2907it [00:26, 108.78it/s]
2920it [00:26, 113.78it/s]
2932it [00:26, 109.86it/s]
2944it [00:26, 106.23it/s]
2959it [00:27, 116.54it/s]
2974it [00:27, 123.39it/s]
2987it [00:27, 114.82it/s]
3001it [00:27, 121.47it/s]
3015it [00:27, 125.84it/s]
3028it [00:27, 111.60it/s]
3040it [00:27, 98.78it/s] 
3054it [00:27, 108.24it/s]
3066it [00:28, 105.11it/s]
3078it [00:28, 108.89it/s]
3093it [00:28, 118.62it/s]
3106it [00:28, 100.26it/s]
3117it [00:28, 97.92it/s] 
3133it [00:28, 112.26it/s]
3146it [00:28, 116.33it/s]
3159it [00:28, 101.80it/s]
3172it [00:28, 107.82it/s]
3189it [00:29, 122.99it/s]
3202it [00:29, 121.50it/s]
3220it [00:29, 135.82it/s]
3234it [00:29, 127.95it/s]
3248it [00:29, 119.54it/s]
3261it [00:29, 121.07it/s]
3274it [00:29, 118.52it/s]
3287it [00:29, 119.22it/s]
3300it [00:30, 109.82it/s]
3312it [00:30, 110.78it/s]
3324it [00:30, 106.64it/s]
3335it [00:30, 105.21it/s]
3350it [00:30, 115.98it/s]
3366it [00:30, 126.69it/s]
3382it [00:30, 135.26it/s]
3396it [00:30, 132.25it/s]
3410it [00:30, 127.52it/s]
3425it [00:31, 133.03it/s]
3439it [00:31, 124.46it/s]
3452it [00:31, 124.10it/s]
3467it [00:31, 130.96it/s]
3481it [00:31, 120.26it/s]
3494it [00:31, 122.48it/s]
3507it [00:31, 123.39it/s]
3523it [00:31, 131.32it/s]
3537it [00:31, 132.43it/s]
3551it [00:32, 133.29it/s]
3565it [00:32, 131.33it/s]
3579it [00:32, 124.07it/s]
3592it [00:32, 107.32it/s]
3604it [00:32, 108.53it/s]
3616it [00:32, 105.31it/s]
3629it [00:32, 109.83it/s]
3641it [00:32, 105.92it/s]
3654it [00:32, 111.12it/s]
3666it [00:33, 107.58it/s]
3677it [00:33, 92.34it/s] 
3691it [00:33, 102.42it/s]
3702it [00:33, 103.95it/s]
3715it [00:33, 109.07it/s]
3727it [00:33, 98.75it/s] 
3738it [00:33, 97.59it/s]
3751it [00:33, 104.49it/s]
3763it [00:34, 106.92it/s]
3775it [00:34, 108.67it/s]
3787it [00:34, 107.33it/s]
3798it [00:34, 105.79it/s]
3810it [00:34, 107.26it/s]
3821it [00:34, 103.77it/s]
3835it [00:34, 112.56it/s]
3849it [00:34, 118.25it/s]
3861it [00:34, 108.99it/s]
3874it [00:35, 114.39it/s]
3886it [00:35, 108.00it/s]
3897it [00:35, 107.68it/s]
3909it [00:35, 110.72it/s]
3921it [00:35, 108.12it/s]
3932it [00:35, 89.27it/s] 
3942it [00:35, 88.49it/s]
3955it [00:35, 97.39it/s]
3966it [00:36, 83.00it/s]
3975it [00:36, 83.88it/s]
3984it [00:36, 85.28it/s]
3999it [00:36, 99.42it/s]
4010it [00:36, 99.76it/s]
4024it [00:36, 102.22it/s]
4036it [00:36, 106.24it/s]
4047it [00:36, 104.48it/s]
4058it [00:36, 104.62it/s]
4069it [00:37, 104.34it/s]
4080it [00:37, 99.97it/s] 
4092it [00:37, 103.36it/s]
4105it [00:37, 109.79it/s]
4120it [00:37, 112.60it/s]
4132it [00:37, 107.86it/s]
4143it [00:37, 107.80it/s]
4155it [00:37, 110.21it/s]
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Track data saved to /working/d5b6ab98-7f60-4106-a1a7-cb1ca80068ea/processing/data/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/d5b6ab98-7f60-4106-a1a7-cb1ca80068ea/processing/data/laser_aligned.ptd.cbor