=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.9
Input file:  /working/3ae5ab84-95c2-412f-9200-5489a9cd0bb7/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 -=-=-=-=-=-=-
2025-12-22T08:18:51 - INFO:  Reading sonar track took 0.008155345916748047 sec!
2025-12-22T08:18:51 - INFO:  Reading sonar alignment track took {0.0005266666412353516} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  1%|          | 2/200 [00:00<00:13, 14.59it/s]
  2%|▎         | 5/200 [00:00<00:09, 20.83it/s]
  4%|▍         | 8/200 [00:00<00:08, 22.77it/s]
  6%|▌         | 11/200 [00:00<00:07, 24.30it/s]
  7%|▋         | 14/200 [00:00<00:08, 21.43it/s]
  8%|▊         | 17/200 [00:00<00:08, 22.35it/s]
 10%|█         | 20/200 [00:00<00:07, 22.77it/s]
 12%|█▏        | 23/200 [00:01<00:07, 22.33it/s]
 13%|█▎        | 26/200 [00:01<00:08, 21.64it/s]
 14%|█▍        | 29/200 [00:01<00:07, 22.18it/s]
 16%|█▌        | 32/200 [00:01<00:07, 22.97it/s]
 18%|█▊        | 35/200 [00:01<00:06, 24.09it/s]
 20%|█▉        | 39/200 [00:01<00:06, 26.41it/s]
 21%|██        | 42/200 [00:01<00:05, 26.80it/s]
 22%|██▎       | 45/200 [00:01<00:05, 27.34it/s]
 24%|██▍       | 48/200 [00:02<00:06, 23.96it/s]
 26%|██▌       | 51/200 [00:02<00:05, 24.84it/s]
 27%|██▋       | 54/200 [00:02<00:05, 25.55it/s]
 28%|██▊       | 57/200 [00:02<00:05, 25.82it/s]
 30%|███       | 60/200 [00:02<00:05, 23.94it/s]
 32%|███▏      | 63/200 [00:02<00:05, 25.45it/s]
 33%|███▎      | 66/200 [00:02<00:05, 25.37it/s]
 34%|███▍      | 69/200 [00:02<00:05, 23.98it/s]
 36%|███▌      | 72/200 [00:03<00:05, 24.08it/s]
 38%|███▊      | 75/200 [00:03<00:05, 24.30it/s]
 39%|███▉      | 78/200 [00:03<00:05, 24.21it/s]
 41%|████      | 82/200 [00:03<00:04, 26.80it/s]
 42%|████▎     | 85/200 [00:03<00:04, 26.61it/s]
 44%|████▍     | 88/200 [00:03<00:04, 26.49it/s]
 46%|████▌     | 91/200 [00:03<00:04, 26.51it/s]
 47%|████▋     | 94/200 [00:03<00:04, 24.59it/s]
 48%|████▊     | 97/200 [00:03<00:04, 24.14it/s]
 50%|█████     | 100/200 [00:04<00:04, 23.90it/s]
 52%|█████▏    | 103/200 [00:04<00:03, 24.79it/s]
 53%|█████▎    | 106/200 [00:04<00:03, 23.73it/s]
 55%|█████▍    | 109/200 [00:04<00:03, 24.25it/s]
 56%|█████▌    | 112/200 [00:04<00:03, 24.16it/s]
 57%|█████▊    | 115/200 [00:04<00:03, 24.33it/s]
 59%|█████▉    | 118/200 [00:04<00:03, 25.61it/s]
 60%|██████    | 121/200 [00:04<00:03, 24.69it/s]
 62%|██████▏   | 124/200 [00:05<00:03, 24.87it/s]
 64%|██████▎   | 127/200 [00:05<00:02, 25.44it/s]
 65%|██████▌   | 130/200 [00:05<00:02, 25.87it/s]
 66%|██████▋   | 133/200 [00:05<00:02, 25.23it/s]
 68%|██████▊   | 136/200 [00:05<00:02, 24.79it/s]
 70%|██████▉   | 139/200 [00:05<00:02, 25.60it/s]
 71%|███████   | 142/200 [00:05<00:02, 24.34it/s]
 72%|███████▎  | 145/200 [00:05<00:02, 24.21it/s]
 74%|███████▍  | 148/200 [00:06<00:02, 24.16it/s]
 76%|███████▌  | 151/200 [00:06<00:01, 24.65it/s]
 78%|███████▊  | 155/200 [00:06<00:01, 26.14it/s]
 79%|███████▉  | 158/200 [00:06<00:01, 24.74it/s]
 80%|████████  | 161/200 [00:06<00:01, 24.95it/s]
 82%|████████▏ | 164/200 [00:06<00:01, 26.17it/s]
 84%|████████▎ | 167/200 [00:06<00:01, 26.77it/s]
 85%|████████▌ | 170/200 [00:06<00:01, 25.62it/s]
 86%|████████▋ | 173/200 [00:07<00:01, 26.57it/s]
 88%|████████▊ | 177/200 [00:07<00:00, 26.66it/s]
 90%|█████████ | 180/200 [00:07<00:00, 25.56it/s]
 92%|█████████▏| 184/200 [00:07<00:00, 26.66it/s]
 94%|█████████▎| 187/200 [00:07<00:00, 24.53it/s]
 95%|█████████▌| 190/200 [00:07<00:00, 25.61it/s]
 96%|█████████▋| 193/200 [00:07<00:00, 23.62it/s]
 98%|█████████▊| 196/200 [00:07<00:00, 23.87it/s]
100%|█████████▉| 199/200 [00:08<00:00, 24.62it/s]
100%|██████████| 200/200 [00:08<00:00, 24.50it/s]
 Median Scale of 200 frame found to be: 1.198033009700267
 Fit to reference shape: 

0it [00:00, ?it/s]
4it [00:00, 34.82it/s]
10it [00:00, 45.83it/s]
15it [00:00, 44.03it/s]
21it [00:00, 48.33it/s]
27it [00:00, 49.20it/s]
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122it [00:02, 77.15it/s]
132it [00:02, 80.67it/s]
145it [00:02, 92.93it/s]
156it [00:02, 96.69it/s]
168it [00:02, 101.38it/s]
179it [00:02, 98.83it/s] 
189it [00:02, 98.30it/s]
199it [00:02, 92.35it/s]
210it [00:02, 96.93it/s]
220it [00:03, 94.47it/s]
230it [00:03, 90.43it/s]
240it [00:03, 89.48it/s]
250it [00:03, 83.22it/s]
262it [00:03, 91.59it/s]
272it [00:03, 90.53it/s]
282it [00:03, 90.10it/s]
292it [00:03, 91.77it/s]
302it [00:04, 90.28it/s]
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321it [00:04, 84.56it/s]
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348it [00:04, 81.23it/s]
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369it [00:04, 92.48it/s]
379it [00:04, 89.61it/s]
389it [00:05, 92.20it/s]
399it [00:05, 84.16it/s]
409it [00:05, 87.61it/s]
422it [00:05, 97.64it/s]
432it [00:05, 89.00it/s]
442it [00:05, 81.65it/s]
453it [00:05, 84.10it/s]
463it [00:05, 87.05it/s]
472it [00:06, 80.91it/s]
483it [00:06, 87.02it/s]
492it [00:06, 86.69it/s]
504it [00:06, 94.56it/s]
514it [00:06, 96.05it/s]
524it [00:06, 93.22it/s]
535it [00:06, 96.79it/s]
545it [00:06, 97.16it/s]
555it [00:06, 90.06it/s]
565it [00:07, 83.98it/s]
575it [00:07, 86.87it/s]
585it [00:07, 89.67it/s]
595it [00:07, 89.07it/s]
604it [00:07, 86.02it/s]
613it [00:07, 84.74it/s]
622it [00:07, 80.92it/s]
631it [00:07, 81.78it/s]
644it [00:07, 94.12it/s]
655it [00:08, 97.27it/s]
665it [00:08, 93.30it/s]
677it [00:08, 100.44it/s]
688it [00:08, 97.54it/s] 
699it [00:08, 99.51it/s]
711it [00:08, 103.31it/s]
722it [00:08, 101.38it/s]
733it [00:08, 101.13it/s]
744it [00:08, 101.17it/s]
755it [00:09, 98.01it/s] 
765it [00:09, 95.87it/s]
775it [00:09, 94.99it/s]
785it [00:09, 93.09it/s]
795it [00:09, 87.95it/s]
804it [00:09, 87.79it/s]
814it [00:09, 90.24it/s]
825it [00:09, 94.75it/s]
835it [00:09, 95.36it/s]
848it [00:09, 102.79it/s]
861it [00:10, 108.92it/s]
872it [00:10, 101.36it/s]
883it [00:10, 94.77it/s] 
893it [00:10, 93.11it/s]
905it [00:10, 94.18it/s]
916it [00:10, 97.27it/s]
928it [00:10, 100.22it/s]
939it [00:10, 102.82it/s]
951it [00:11, 105.17it/s]
962it [00:11, 101.22it/s]
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1090it [00:12, 103.10it/s]
1101it [00:12, 104.40it/s]
1112it [00:12, 104.61it/s]
1123it [00:12, 104.20it/s]
1136it [00:12, 109.77it/s]
1148it [00:12, 108.00it/s]
1159it [00:13, 107.23it/s]
1171it [00:13, 109.89it/s]
1183it [00:13, 107.80it/s]
1194it [00:13, 105.56it/s]
1205it [00:13, 104.90it/s]
1216it [00:13, 100.41it/s]
1227it [00:13, 102.71it/s]
1238it [00:13, 99.22it/s] 
1248it [00:13, 99.32it/s]
1258it [00:14, 96.50it/s]
1268it [00:14, 97.47it/s]
1278it [00:14, 92.68it/s]
1290it [00:14, 95.49it/s]
1301it [00:14, 97.51it/s]
1312it [00:14, 98.95it/s]
1322it [00:14, 98.89it/s]
1334it [00:14, 103.74it/s]
1345it [00:14, 101.16it/s]
1356it [00:14, 103.14it/s]
1367it [00:15, 100.24it/s]
1378it [00:15, 89.96it/s] 
1389it [00:15, 93.57it/s]
1399it [00:15, 90.41it/s]
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1420it [00:15, 92.65it/s]
1430it [00:15, 91.29it/s]
1440it [00:15, 82.81it/s]
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1461it [00:16, 90.92it/s]
1471it [00:16, 92.67it/s]
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1511it [00:16, 88.42it/s]
1522it [00:16, 92.48it/s]
1532it [00:16, 90.49it/s]
1545it [00:17, 99.22it/s]
1555it [00:17, 92.15it/s]
1566it [00:17, 96.30it/s]
1576it [00:17, 90.72it/s]
1586it [00:17, 91.55it/s]
1596it [00:17, 91.64it/s]
1606it [00:17, 88.05it/s]
1617it [00:17, 92.88it/s]
1627it [00:17, 89.98it/s]
1637it [00:18, 90.99it/s]
1648it [00:18, 94.99it/s]
1658it [00:18, 96.21it/s]
1669it [00:18, 99.07it/s]
1679it [00:18, 92.83it/s]
1689it [00:18, 92.58it/s]
1699it [00:18, 88.02it/s]
1709it [00:18, 89.66it/s]
1721it [00:18, 97.01it/s]
1731it [00:19, 91.70it/s]
1743it [00:19, 96.32it/s]
1757it [00:19, 107.42it/s]
1768it [00:19, 107.96it/s]
1779it [00:19, 107.67it/s]
1790it [00:19, 105.49it/s]
1801it [00:19, 106.64it/s]
1812it [00:19, 99.03it/s] 
1823it [00:19, 93.23it/s]
1833it [00:20, 91.90it/s]
1843it [00:20, 92.78it/s]
1854it [00:20, 95.66it/s]
1864it [00:20, 95.88it/s]
1875it [00:20, 99.50it/s]
1886it [00:20, 101.20it/s]
1897it [00:20, 98.34it/s] 
1908it [00:20, 99.34it/s]
1919it [00:20, 101.54it/s]
1930it [00:21, 103.72it/s]
1941it [00:21, 105.02it/s]
1952it [00:21, 101.15it/s]
1963it [00:21, 94.16it/s] 
1975it [00:21, 98.71it/s]
1987it [00:21, 102.15it/s]
1999it [00:21, 105.26it/s]
2010it [00:21, 102.85it/s]
2022it [00:21, 104.57it/s]
2034it [00:22, 107.41it/s]
2045it [00:22, 105.39it/s]
2056it [00:22, 100.91it/s]
2069it [00:22, 107.42it/s]
2081it [00:22, 109.02it/s]
2092it [00:22, 104.39it/s]
2103it [00:22, 104.56it/s]
2114it [00:22, 104.04it/s]
2125it [00:22, 101.10it/s]
2136it [00:23, 100.34it/s]
2147it [00:23, 100.24it/s]
2159it [00:23, 102.37it/s]
2170it [00:23, 93.36it/s] 
2183it [00:23, 101.83it/s]
2196it [00:23, 107.71it/s]
2208it [00:23, 109.28it/s]
2220it [00:23, 103.51it/s]
2232it [00:23, 106.32it/s]
2243it [00:24, 102.01it/s]
2254it [00:24, 95.39it/s] 
2266it [00:24, 100.54it/s]
2277it [00:24, 100.22it/s]
2288it [00:24, 100.48it/s]
2300it [00:24, 104.05it/s]
2313it [00:24, 105.20it/s]
2324it [00:24, 104.39it/s]
2335it [00:24, 105.72it/s]
2347it [00:25, 109.13it/s]
2358it [00:25, 104.68it/s]
2369it [00:25, 101.99it/s]
2380it [00:25, 102.58it/s]
2391it [00:25, 103.64it/s]
2403it [00:25, 107.16it/s]
2414it [00:25, 102.76it/s]
2425it [00:25, 98.49it/s] 
2436it [00:25, 100.00it/s]
2450it [00:26, 99.81it/s] 
2463it [00:26, 103.99it/s]
2475it [00:26, 106.22it/s]
2488it [00:26, 111.53it/s]
2500it [00:26, 97.76it/s] 
2511it [00:26, 94.38it/s]
2521it [00:26, 95.21it/s]
2532it [00:26, 97.05it/s]
2543it [00:27, 99.37it/s]
2556it [00:27, 107.54it/s]
2567it [00:27, 101.37it/s]
2580it [00:27, 108.14it/s]
2591it [00:27, 105.58it/s]
2602it [00:27, 101.86it/s]
2616it [00:27, 110.19it/s]
2628it [00:27, 110.42it/s]
2641it [00:27, 114.65it/s]
2653it [00:28, 110.58it/s]
2665it [00:28, 113.18it/s]
2677it [00:28, 108.65it/s]
2688it [00:28, 91.44it/s] 
2700it [00:28, 97.28it/s]
2711it [00:28, 97.97it/s]
2722it [00:28, 99.97it/s]
2733it [00:28, 100.94it/s]
2745it [00:28, 104.93it/s]
2759it [00:29, 112.91it/s]
2771it [00:29, 112.25it/s]
2783it [00:29, 103.03it/s]
2794it [00:29, 104.53it/s]
2805it [00:29, 100.50it/s]
2816it [00:29, 101.95it/s]
2827it [00:29, 102.40it/s]
2839it [00:29, 106.01it/s]
2850it [00:29, 100.50it/s]
2862it [00:30, 104.83it/s]
2874it [00:30, 108.07it/s]
2886it [00:30, 110.39it/s]
2898it [00:30, 106.06it/s]
2909it [00:30, 100.81it/s]
2920it [00:30, 98.09it/s] 
2932it [00:30, 103.19it/s]
2943it [00:30, 103.98it/s]
2954it [00:30, 102.87it/s]
2966it [00:31, 106.98it/s]
2977it [00:31, 107.25it/s]
2989it [00:31, 109.86it/s]
3002it [00:31, 113.82it/s]
3014it [00:31, 115.35it/s]
3026it [00:31, 110.67it/s]
3038it [00:31, 110.74it/s]
3050it [00:31, 102.69it/s]
3063it [00:31, 108.83it/s]
3075it [00:32, 107.28it/s]
3086it [00:32, 105.41it/s]
3097it [00:32, 104.05it/s]
3108it [00:32, 100.04it/s]
3119it [00:32, 99.18it/s] 
3131it [00:32, 104.76it/s]
3143it [00:32, 107.98it/s]
3156it [00:32, 112.29it/s]
3168it [00:32, 111.80it/s]
3181it [00:33, 116.95it/s]
3193it [00:33, 106.68it/s]
3204it [00:33, 106.09it/s]
3215it [00:33, 103.74it/s]
3226it [00:33, 89.83it/s] 
3237it [00:33, 94.40it/s]
3249it [00:33, 99.62it/s]
3260it [00:33, 93.45it/s]
3271it [00:34, 96.84it/s]
3282it [00:34, 98.44it/s]
3294it [00:34, 102.81it/s]
3305it [00:34, 93.76it/s] 
3317it [00:34, 99.66it/s]
3329it [00:34, 103.43it/s]
3341it [00:34, 107.79it/s]
3352it [00:34, 107.75it/s]
3363it [00:34, 103.89it/s]
3374it [00:35, 100.79it/s]
3385it [00:35, 96.65it/s] 
3396it [00:35, 99.67it/s]
3407it [00:35, 96.41it/s]
3418it [00:35, 98.92it/s]
3428it [00:35, 97.24it/s]
3438it [00:35, 95.31it/s]
3448it [00:35, 95.16it/s]
3458it [00:35, 93.64it/s]
3471it [00:36, 97.64it/s]
3481it [00:36, 96.82it/s]
3494it [00:36, 103.49it/s]
3506it [00:36, 105.00it/s]
3517it [00:36, 97.98it/s] 
3527it [00:36, 97.96it/s]
3540it [00:36, 105.99it/s]
3551it [00:36, 104.18it/s]
3562it [00:36, 99.54it/s] 
3575it [00:37, 106.20it/s]
3587it [00:37, 108.88it/s]
3599it [00:37, 111.44it/s]
3611it [00:37, 111.41it/s]
3623it [00:37, 107.01it/s]
3635it [00:37, 108.06it/s]
3646it [00:37, 106.10it/s]
3658it [00:37, 108.07it/s]
3669it [00:37, 108.39it/s]
3681it [00:37, 109.67it/s]
3693it [00:38, 112.51it/s]
3705it [00:38, 105.99it/s]
3717it [00:38, 109.70it/s]
3729it [00:38, 110.20it/s]
3741it [00:38, 106.69it/s]
3752it [00:38, 98.09it/s] 
3762it [00:38, 98.48it/s]
3772it [00:38, 94.64it/s]
3782it [00:39, 91.52it/s]
3792it [00:39, 91.92it/s]
3804it [00:39, 99.55it/s]
3817it [00:39, 107.33it/s]
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Track data saved to /working/3ae5ab84-95c2-412f-9200-5489a9cd0bb7/processing/data/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/3ae5ab84-95c2-412f-9200-5489a9cd0bb7/processing/data/laser_aligned.ptd.cbor