=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.9
Input file:  /working/37a91a42-8186-47da-9a94-a0dca1c238fc/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 -=-=-=-=-=-=-
2025-12-22T07:08:43 - INFO:  Reading sonar track took 0.13346457481384277 sec!
2025-12-22T07:08:43 - INFO:  Reading sonar alignment track took {0.0006480216979980469} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  0%|          | 1/200 [00:00<00:21,  9.09it/s]
  2%|▏         | 3/200 [00:00<00:13, 14.17it/s]
  2%|▎         | 5/200 [00:00<00:13, 14.33it/s]
  4%|▎         | 7/200 [00:00<00:13, 14.49it/s]
  5%|▌         | 10/200 [00:00<00:10, 17.68it/s]
  6%|▋         | 13/200 [00:00<00:09, 20.00it/s]
  8%|▊         | 16/200 [00:00<00:09, 20.29it/s]
 10%|▉         | 19/200 [00:01<00:08, 20.67it/s]
 11%|█         | 22/200 [00:01<00:08, 20.78it/s]
 12%|█▎        | 25/200 [00:01<00:08, 21.05it/s]
 14%|█▍        | 28/200 [00:01<00:08, 20.60it/s]
 16%|█▌        | 31/200 [00:01<00:07, 21.19it/s]
 17%|█▋        | 34/200 [00:01<00:07, 21.38it/s]
 18%|█▊        | 37/200 [00:01<00:07, 21.31it/s]
 20%|██        | 40/200 [00:02<00:07, 20.69it/s]
 22%|██▏       | 43/200 [00:02<00:07, 20.86it/s]
 23%|██▎       | 46/200 [00:02<00:07, 21.48it/s]
 24%|██▍       | 49/200 [00:02<00:07, 20.77it/s]
 26%|██▌       | 52/200 [00:02<00:06, 21.19it/s]
 28%|██▊       | 55/200 [00:02<00:07, 20.56it/s]
 29%|██▉       | 58/200 [00:02<00:06, 20.78it/s]
 30%|███       | 61/200 [00:03<00:07, 19.77it/s]
 32%|███▏      | 64/200 [00:03<00:06, 21.26it/s]
 34%|███▎      | 67/200 [00:03<00:06, 21.88it/s]
 35%|███▌      | 70/200 [00:03<00:06, 20.48it/s]
 36%|███▋      | 73/200 [00:03<00:06, 19.43it/s]
 38%|███▊      | 76/200 [00:03<00:06, 20.55it/s]
 40%|███▉      | 79/200 [00:03<00:06, 19.08it/s]
 41%|████      | 82/200 [00:04<00:05, 20.45it/s]
 42%|████▎     | 85/200 [00:04<00:05, 21.49it/s]
 44%|████▍     | 88/200 [00:04<00:05, 22.06it/s]
 46%|████▌     | 91/200 [00:04<00:04, 22.10it/s]
 47%|████▋     | 94/200 [00:04<00:04, 23.73it/s]
 48%|████▊     | 97/200 [00:04<00:04, 23.40it/s]
 50%|█████     | 100/200 [00:04<00:04, 22.52it/s]
 52%|█████▏    | 103/200 [00:04<00:04, 22.09it/s]
 53%|█████▎    | 106/200 [00:05<00:04, 22.65it/s]
 55%|█████▍    | 109/200 [00:05<00:04, 21.12it/s]
 56%|█████▌    | 112/200 [00:05<00:04, 20.81it/s]
 57%|█████▊    | 115/200 [00:05<00:04, 20.23it/s]
 59%|█████▉    | 118/200 [00:05<00:03, 21.31it/s]
 60%|██████    | 121/200 [00:05<00:03, 21.21it/s]
 62%|██████▏   | 124/200 [00:05<00:03, 21.91it/s]
 64%|██████▎   | 127/200 [00:06<00:03, 21.23it/s]
 65%|██████▌   | 130/200 [00:06<00:03, 22.57it/s]
 66%|██████▋   | 133/200 [00:06<00:03, 21.34it/s]
 68%|██████▊   | 136/200 [00:06<00:03, 19.54it/s]
 70%|██████▉   | 139/200 [00:06<00:02, 20.68it/s]
 71%|███████   | 142/200 [00:06<00:02, 21.71it/s]
 72%|███████▎  | 145/200 [00:06<00:02, 22.00it/s]
 74%|███████▍  | 148/200 [00:07<00:02, 22.26it/s]
 76%|███████▌  | 151/200 [00:07<00:02, 22.45it/s]
 77%|███████▋  | 154/200 [00:07<00:01, 23.92it/s]
 78%|███████▊  | 157/200 [00:07<00:01, 24.69it/s]
 80%|████████  | 160/200 [00:07<00:01, 22.38it/s]
 82%|████████▏ | 163/200 [00:07<00:01, 21.13it/s]
 83%|████████▎ | 166/200 [00:07<00:01, 22.30it/s]
 84%|████████▍ | 169/200 [00:08<00:01, 21.72it/s]
 86%|████████▌ | 172/200 [00:08<00:01, 22.43it/s]
 88%|████████▊ | 175/200 [00:08<00:01, 21.47it/s]
 89%|████████▉ | 178/200 [00:08<00:01, 21.86it/s]
 90%|█████████ | 181/200 [00:08<00:00, 19.34it/s]
 92%|█████████▏| 184/200 [00:08<00:00, 18.91it/s]
 94%|█████████▎| 187/200 [00:08<00:00, 19.28it/s]
 95%|█████████▌| 190/200 [00:09<00:00, 19.66it/s]
 96%|█████████▋| 193/200 [00:09<00:00, 20.56it/s]
 98%|█████████▊| 196/200 [00:09<00:00, 20.81it/s]
100%|█████████▉| 199/200 [00:09<00:00, 22.16it/s]
100%|██████████| 200/200 [00:09<00:00, 20.84it/s]
 Median Scale of 200 frame found to be: 0.8919557978357475
 Fit to reference shape: 

0it [00:00, ?it/s]
5it [00:00, 42.18it/s]
12it [00:00, 55.68it/s]
18it [00:00, 53.48it/s]
24it [00:00, 47.15it/s]
29it [00:00, 47.20it/s]
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206it [00:02, 103.37it/s]
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399it [00:04, 105.25it/s]
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445it [00:04, 108.71it/s]
457it [00:04, 109.91it/s]
469it [00:05, 109.76it/s]
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494it [00:05, 113.83it/s]
506it [00:05, 110.88it/s]
518it [00:05, 99.09it/s] 
530it [00:05, 103.47it/s]
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552it [00:05, 104.17it/s]
563it [00:05, 102.24it/s]
575it [00:06, 106.32it/s]
586it [00:06, 106.19it/s]
597it [00:06, 106.42it/s]
609it [00:06, 108.54it/s]
620it [00:06, 107.87it/s]
632it [00:06, 110.58it/s]
644it [00:06, 111.83it/s]
657it [00:06, 114.81it/s]
669it [00:06, 113.48it/s]
681it [00:06, 112.01it/s]
693it [00:07, 111.74it/s]
705it [00:07, 109.67it/s]
717it [00:07, 112.41it/s]
729it [00:07, 108.77it/s]
740it [00:07, 105.39it/s]
751it [00:07, 101.90it/s]
762it [00:07, 103.23it/s]
773it [00:07, 96.10it/s] 
784it [00:08, 98.29it/s]
795it [00:08, 99.80it/s]
807it [00:08, 103.25it/s]
818it [00:08, 104.55it/s]
829it [00:08, 103.35it/s]
841it [00:08, 105.76it/s]
853it [00:08, 107.69it/s]
865it [00:08, 109.91it/s]
877it [00:08, 109.76it/s]
889it [00:08, 110.24it/s]
901it [00:09, 112.13it/s]
913it [00:09, 108.70it/s]
926it [00:09, 110.90it/s]
938it [00:09, 106.91it/s]
951it [00:09, 112.14it/s]
964it [00:09, 115.28it/s]
977it [00:09, 118.24it/s]
989it [00:09, 114.47it/s]
1001it [00:09, 104.87it/s]
1014it [00:10, 106.95it/s]
1025it [00:10, 107.41it/s]
1036it [00:10, 107.19it/s]
1048it [00:10, 109.05it/s]
1059it [00:10, 104.38it/s]
1071it [00:10, 108.38it/s]
1083it [00:10, 109.02it/s]
1096it [00:10, 111.57it/s]
1109it [00:10, 115.22it/s]
1121it [00:11, 111.95it/s]
1133it [00:11, 105.64it/s]
1144it [00:11, 106.09it/s]
1156it [00:11, 107.86it/s]
1168it [00:11, 107.43it/s]
1179it [00:11, 103.55it/s]
1192it [00:11, 108.39it/s]
1203it [00:11, 108.83it/s]
1214it [00:11, 108.27it/s]
1225it [00:12, 105.02it/s]
1237it [00:12, 107.14it/s]
1248it [00:12, 106.52it/s]
1259it [00:12, 106.48it/s]
1272it [00:12, 111.84it/s]
1284it [00:12, 110.58it/s]
1296it [00:12, 112.62it/s]
1308it [00:12, 113.52it/s]
1320it [00:12, 112.64it/s]
1332it [00:13, 106.59it/s]
1343it [00:13, 106.61it/s]
1354it [00:13, 102.98it/s]
1366it [00:13, 107.11it/s]
1377it [00:13, 106.54it/s]
1389it [00:13, 107.89it/s]
1401it [00:13, 110.33it/s]
1413it [00:13, 111.80it/s]
1425it [00:13, 112.84it/s]
1437it [00:13, 112.54it/s]
1450it [00:14, 116.42it/s]
1462it [00:14, 117.44it/s]
1474it [00:14, 109.68it/s]
1486it [00:14, 110.77it/s]
1498it [00:14, 102.98it/s]
1510it [00:14, 106.36it/s]
1521it [00:14, 105.31it/s]
1532it [00:14, 106.09it/s]
1543it [00:14, 102.16it/s]
1554it [00:15, 94.29it/s] 
1567it [00:15, 98.14it/s]
1578it [00:15, 101.19it/s]
1591it [00:15, 108.47it/s]
1602it [00:15, 108.06it/s]
1613it [00:15, 108.56it/s]
1624it [00:15, 107.95it/s]
1636it [00:15, 110.04it/s]
1648it [00:15, 105.64it/s]
1660it [00:16, 107.96it/s]
1672it [00:16, 108.84it/s]
1685it [00:16, 113.51it/s]
1698it [00:16, 115.39it/s]
1711it [00:16, 119.20it/s]
1723it [00:16, 117.61it/s]
1735it [00:16, 118.07it/s]
1747it [00:16, 115.56it/s]
1759it [00:16, 113.58it/s]
1771it [00:17, 114.04it/s]
1783it [00:17, 114.88it/s]
1796it [00:17, 118.33it/s]
1808it [00:17, 110.25it/s]
1820it [00:17, 106.42it/s]
1832it [00:17, 110.02it/s]
1844it [00:17, 109.17it/s]
1855it [00:17, 100.57it/s]
1866it [00:17, 99.91it/s] 
1879it [00:18, 107.24it/s]
1891it [00:18, 109.74it/s]
1903it [00:18, 110.04it/s]
1916it [00:18, 110.26it/s]
1929it [00:18, 112.03it/s]
1941it [00:18, 107.85it/s]
1953it [00:18, 109.12it/s]
1964it [00:18, 104.52it/s]
1975it [00:18, 105.26it/s]
1988it [00:19, 111.28it/s]
2000it [00:19, 113.50it/s]
2013it [00:19, 116.94it/s]
2025it [00:19, 116.26it/s]
2037it [00:19, 117.29it/s]
2049it [00:19, 117.05it/s]
2061it [00:19, 113.94it/s]
2073it [00:19, 112.80it/s]
2085it [00:19, 112.42it/s]
2098it [00:19, 116.36it/s]
2110it [00:20, 114.69it/s]
2123it [00:20, 116.48it/s]
2135it [00:20, 115.78it/s]
2147it [00:20, 112.48it/s]
2159it [00:20, 110.86it/s]
2172it [00:20, 111.51it/s]
2184it [00:20, 111.49it/s]
2197it [00:20, 115.66it/s]
2210it [00:20, 117.49it/s]
2223it [00:21, 119.20it/s]
2235it [00:21, 115.13it/s]
2247it [00:21, 112.14it/s]
2260it [00:21, 115.48it/s]
2272it [00:21, 105.91it/s]
2284it [00:21, 109.66it/s]
2297it [00:21, 114.70it/s]
2309it [00:21, 113.44it/s]
2321it [00:21, 111.15it/s]
2334it [00:22, 115.78it/s]
2346it [00:22, 111.75it/s]
2358it [00:22, 113.35it/s]
2371it [00:22, 118.01it/s]
2384it [00:22, 120.08it/s]
2397it [00:22, 122.86it/s]
2410it [00:22, 122.59it/s]
2423it [00:22, 121.39it/s]
2436it [00:22, 119.64it/s]
2448it [00:23, 113.99it/s]
2461it [00:23, 116.35it/s]
2473it [00:23, 105.18it/s]
2485it [00:23, 107.13it/s]
2496it [00:23, 107.56it/s]
2508it [00:23, 110.63it/s]
2521it [00:23, 114.13it/s]
2533it [00:23, 115.45it/s]
2545it [00:23, 115.37it/s]
2557it [00:24, 113.94it/s]
2569it [00:24, 108.89it/s]
2582it [00:24, 114.41it/s]
2594it [00:24, 115.79it/s]
2606it [00:24, 116.07it/s]
2619it [00:24, 118.95it/s]
2631it [00:24, 118.57it/s]
2643it [00:24, 111.71it/s]
2656it [00:24, 114.79it/s]
2669it [00:24, 115.50it/s]
2681it [00:25, 116.20it/s]
2693it [00:25, 110.81it/s]
2705it [00:25, 112.45it/s]
2718it [00:25, 114.01it/s]
2730it [00:25, 114.86it/s]
2742it [00:25, 111.14it/s]
2754it [00:25, 111.86it/s]
2766it [00:25, 113.78it/s]
2778it [00:25, 111.24it/s]
2791it [00:26, 116.04it/s]
2803it [00:26, 113.28it/s]
2817it [00:26, 119.12it/s]
2829it [00:26, 118.52it/s]
2841it [00:26, 118.89it/s]
2854it [00:26, 121.87it/s]
2867it [00:26, 120.75it/s]
2880it [00:26, 117.97it/s]
2892it [00:26, 116.76it/s]
2904it [00:27, 109.52it/s]
2916it [00:27, 109.88it/s]
2928it [00:27, 102.71it/s]
2939it [00:27, 94.39it/s] 
2952it [00:27, 102.56it/s]
2963it [00:27, 100.39it/s]
2974it [00:27, 101.17it/s]
2985it [00:27, 102.28it/s]
2997it [00:27, 103.96it/s]
3008it [00:28, 103.75it/s]
3019it [00:28, 105.23it/s]
3030it [00:28, 101.79it/s]
3043it [00:28, 108.94it/s]
3056it [00:28, 113.42it/s]
3068it [00:28, 114.20it/s]
3080it [00:28, 111.25it/s]
3092it [00:28, 111.95it/s]
3105it [00:28, 114.51it/s]
3117it [00:29, 110.79it/s]
3130it [00:29, 115.69it/s]
3142it [00:29, 112.91it/s]
3154it [00:29, 112.61it/s]
3166it [00:29, 112.64it/s]
3179it [00:29, 116.43it/s]
3191it [00:29, 116.47it/s]
3203it [00:29, 116.30it/s]
3215it [00:29, 113.07it/s]
3228it [00:30, 117.47it/s]
3242it [00:30, 121.49it/s]
3255it [00:30, 117.71it/s]
3267it [00:30, 114.66it/s]
3279it [00:30, 107.42it/s]
3291it [00:30, 110.58it/s]
3304it [00:30, 114.55it/s]
3316it [00:30, 114.52it/s]
3329it [00:30, 117.75it/s]
3341it [00:30, 117.75it/s]
3354it [00:31, 118.98it/s]
3366it [00:31, 114.66it/s]
3378it [00:31, 114.68it/s]
3390it [00:31, 115.11it/s]
3402it [00:31, 111.59it/s]
3414it [00:31, 111.10it/s]
3426it [00:31, 108.38it/s]
3438it [00:31, 110.15it/s]
3451it [00:31, 114.66it/s]
3464it [00:32, 118.51it/s]
3476it [00:32, 115.39it/s]
3488it [00:32, 115.76it/s]
3501it [00:32, 117.11it/s]
3514it [00:32, 118.75it/s]
3527it [00:32, 119.85it/s]
3539it [00:32, 115.66it/s]
3553it [00:32, 120.10it/s]
3566it [00:32, 120.10it/s]
3579it [00:33, 113.87it/s]
3591it [00:33, 108.64it/s]
3603it [00:33, 111.54it/s]
3616it [00:33, 116.02it/s]
3628it [00:33, 114.95it/s]
3640it [00:33, 110.34it/s]
3652it [00:33, 108.20it/s]
3663it [00:33, 106.98it/s]
3675it [00:33, 110.50it/s]
3687it [00:34, 111.05it/s]
3699it [00:34, 111.48it/s]
3711it [00:34, 112.19it/s]
3724it [00:34, 114.15it/s]
3736it [00:34, 109.72it/s]
3749it [00:34, 111.74it/s]
3761it [00:34, 112.07it/s]
3773it [00:34, 110.44it/s]
3785it [00:34, 105.14it/s]
3796it [00:35, 106.26it/s]
3808it [00:35, 108.23it/s]
3821it [00:35, 111.75it/s]
3834it [00:35, 115.43it/s]
3846it [00:35, 109.14it/s]
3857it [00:35, 109.00it/s]
3869it [00:35, 111.87it/s]
3882it [00:35, 115.46it/s]
3894it [00:35, 111.37it/s]
3906it [00:36, 112.85it/s]
3919it [00:36, 117.06it/s]
3931it [00:36, 111.01it/s]
3943it [00:36, 110.16it/s]
3955it [00:36, 109.93it/s]
3968it [00:36, 115.40it/s]
3980it [00:36, 113.18it/s]
3992it [00:36, 108.02it/s]
4005it [00:36, 111.96it/s]
4019it [00:36, 117.18it/s]
4031it [00:37, 114.42it/s]
4043it [00:37, 113.12it/s]
4055it [00:37, 108.32it/s]
4069it [00:37, 114.86it/s]
4082it [00:37, 114.96it/s]
4094it [00:37, 112.03it/s]
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Track data saved to /working/37a91a42-8186-47da-9a94-a0dca1c238fc/processing/data/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/37a91a42-8186-47da-9a94-a0dca1c238fc/processing/data/laser_aligned.ptd.cbor