=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.9
Input file:  /working/e3df0bbe-97cf-4dbd-904d-e607401d1c20/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 -=-=-=-=-=-=-
2025-12-22T08:19:12 - INFO:  Reading sonar track took 0.0033292770385742188 sec!
2025-12-22T08:19:12 - INFO:  Reading sonar alignment track took {0.0004892349243164062} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  0%|          | 1/200 [00:00<00:27,  7.20it/s]
  2%|▏         | 4/200 [00:00<00:12, 15.08it/s]
  4%|▎         | 7/200 [00:00<00:09, 19.55it/s]
  5%|▌         | 10/200 [00:00<00:08, 22.22it/s]
  6%|▋         | 13/200 [00:00<00:08, 22.34it/s]
  8%|▊         | 16/200 [00:00<00:07, 24.51it/s]
 10%|▉         | 19/200 [00:00<00:07, 24.81it/s]
 11%|█         | 22/200 [00:00<00:06, 26.09it/s]
 12%|█▎        | 25/200 [00:01<00:06, 25.58it/s]
 14%|█▍        | 29/200 [00:01<00:06, 25.72it/s]
 16%|█▌        | 32/200 [00:01<00:07, 22.80it/s]
 18%|█▊        | 35/200 [00:01<00:07, 22.48it/s]
 19%|█▉        | 38/200 [00:01<00:06, 24.07it/s]
 20%|██        | 41/200 [00:01<00:06, 22.97it/s]
 22%|██▏       | 44/200 [00:01<00:06, 24.47it/s]
 24%|██▎       | 47/200 [00:02<00:06, 24.93it/s]
 26%|██▌       | 51/200 [00:02<00:05, 26.63it/s]
 27%|██▋       | 54/200 [00:02<00:05, 26.38it/s]
 28%|██▊       | 57/200 [00:02<00:05, 25.72it/s]
 30%|███       | 60/200 [00:02<00:05, 25.20it/s]
 32%|███▏      | 63/200 [00:02<00:05, 24.76it/s]
 33%|███▎      | 66/200 [00:02<00:05, 25.18it/s]
 35%|███▌      | 70/200 [00:02<00:04, 27.36it/s]
 36%|███▋      | 73/200 [00:02<00:04, 26.56it/s]
 38%|███▊      | 76/200 [00:03<00:04, 26.27it/s]
 40%|███▉      | 79/200 [00:03<00:04, 25.12it/s]
 41%|████      | 82/200 [00:03<00:04, 23.71it/s]
 42%|████▎     | 85/200 [00:03<00:04, 24.76it/s]
 44%|████▍     | 88/200 [00:03<00:04, 23.83it/s]
 46%|████▌     | 91/200 [00:03<00:04, 24.97it/s]
 47%|████▋     | 94/200 [00:03<00:04, 24.29it/s]
 48%|████▊     | 97/200 [00:03<00:04, 25.10it/s]
 50%|█████     | 100/200 [00:04<00:03, 25.17it/s]
 52%|█████▏    | 103/200 [00:04<00:03, 25.55it/s]
 53%|█████▎    | 106/200 [00:04<00:03, 25.28it/s]
 55%|█████▍    | 109/200 [00:04<00:03, 23.58it/s]
 56%|█████▌    | 112/200 [00:04<00:03, 23.45it/s]
 57%|█████▊    | 115/200 [00:04<00:03, 24.42it/s]
 59%|█████▉    | 118/200 [00:04<00:03, 25.79it/s]
 60%|██████    | 121/200 [00:04<00:03, 25.67it/s]
 62%|██████▏   | 124/200 [00:05<00:03, 24.19it/s]
 64%|██████▎   | 127/200 [00:05<00:03, 23.81it/s]
 65%|██████▌   | 130/200 [00:05<00:03, 22.46it/s]
 66%|██████▋   | 133/200 [00:05<00:02, 23.99it/s]
 68%|██████▊   | 136/200 [00:05<00:02, 24.98it/s]
 70%|██████▉   | 139/200 [00:05<00:02, 23.73it/s]
 71%|███████   | 142/200 [00:05<00:02, 22.61it/s]
 72%|███████▎  | 145/200 [00:05<00:02, 22.90it/s]
 74%|███████▍  | 149/200 [00:06<00:01, 25.55it/s]
 76%|███████▋  | 153/200 [00:06<00:01, 27.31it/s]
 78%|███████▊  | 156/200 [00:06<00:01, 25.30it/s]
 80%|███████▉  | 159/200 [00:06<00:01, 23.10it/s]
 81%|████████  | 162/200 [00:06<00:01, 22.90it/s]
 82%|████████▎ | 165/200 [00:06<00:01, 23.85it/s]
 84%|████████▍ | 168/200 [00:06<00:01, 24.01it/s]
 86%|████████▌ | 171/200 [00:07<00:01, 24.24it/s]
 87%|████████▋ | 174/200 [00:07<00:01, 24.56it/s]
 88%|████████▊ | 177/200 [00:07<00:00, 24.80it/s]
 90%|█████████ | 180/200 [00:07<00:00, 25.02it/s]
 92%|█████████▏| 183/200 [00:07<00:00, 25.44it/s]
 94%|█████████▎| 187/200 [00:07<00:00, 27.08it/s]
 95%|█████████▌| 190/200 [00:07<00:00, 26.60it/s]
 96%|█████████▋| 193/200 [00:07<00:00, 26.39it/s]
 98%|█████████▊| 196/200 [00:08<00:00, 24.25it/s]
100%|██████████| 200/200 [00:08<00:00, 22.54it/s]
100%|██████████| 200/200 [00:08<00:00, 24.32it/s]
 Median Scale of 200 frame found to be: 1.0462269308625167
 Fit to reference shape: 

0it [00:00, ?it/s]
6it [00:00, 52.71it/s]
12it [00:00, 48.41it/s]
18it [00:00, 50.90it/s]
25it [00:00, 55.57it/s]
34it [00:00, 66.40it/s]
44it [00:00, 75.36it/s]
52it [00:00, 75.12it/s]
61it [00:00, 78.74it/s]
69it [00:00, 76.14it/s]
77it [00:01, 74.70it/s]
86it [00:01, 77.53it/s]
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116it [00:01, 84.19it/s]
125it [00:01, 84.71it/s]
134it [00:01, 82.53it/s]
144it [00:01, 87.38it/s]
154it [00:01, 90.36it/s]
166it [00:02, 97.28it/s]
177it [00:02, 95.58it/s]
187it [00:02, 96.03it/s]
200it [00:02, 103.94it/s]
211it [00:02, 105.10it/s]
223it [00:02, 109.39it/s]
234it [00:02, 108.13it/s]
247it [00:02, 112.61it/s]
259it [00:02, 106.55it/s]
272it [00:03, 112.99it/s]
284it [00:03, 100.84it/s]
296it [00:03, 104.51it/s]
307it [00:03, 103.75it/s]
318it [00:03, 97.46it/s] 
328it [00:03, 94.55it/s]
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350it [00:03, 96.46it/s]
360it [00:03, 95.09it/s]
372it [00:04, 101.15it/s]
383it [00:04, 100.44it/s]
396it [00:04, 106.82it/s]
408it [00:04, 110.10it/s]
420it [00:04, 106.14it/s]
431it [00:04, 95.27it/s] 
442it [00:04, 97.85it/s]
453it [00:04, 100.53it/s]
464it [00:04, 100.92it/s]
475it [00:05, 101.76it/s]
487it [00:05, 104.93it/s]
499it [00:05, 107.34it/s]
510it [00:05, 107.90it/s]
521it [00:05, 107.24it/s]
532it [00:05, 106.83it/s]
544it [00:05, 108.23it/s]
555it [00:05, 107.57it/s]
566it [00:05, 104.88it/s]
578it [00:06, 108.07it/s]
589it [00:06, 107.40it/s]
600it [00:06, 103.80it/s]
611it [00:06, 103.46it/s]
622it [00:06, 96.98it/s] 
632it [00:06, 97.16it/s]
642it [00:06, 95.57it/s]
652it [00:06, 94.66it/s]
662it [00:06, 91.64it/s]
673it [00:07, 96.29it/s]
687it [00:07, 107.25it/s]
698it [00:07, 105.98it/s]
709it [00:07, 106.61it/s]
720it [00:07, 104.84it/s]
731it [00:07, 103.17it/s]
743it [00:07, 107.27it/s]
755it [00:07, 107.59it/s]
767it [00:07, 107.76it/s]
779it [00:08, 109.76it/s]
791it [00:08, 112.18it/s]
803it [00:08, 101.77it/s]
817it [00:08, 111.35it/s]
829it [00:08, 96.76it/s] 
842it [00:08, 102.97it/s]
853it [00:08, 103.43it/s]
866it [00:08, 109.32it/s]
878it [00:08, 109.99it/s]
890it [00:09, 105.04it/s]
901it [00:09, 105.98it/s]
913it [00:09, 109.16it/s]
925it [00:09, 112.14it/s]
937it [00:09, 109.95it/s]
949it [00:09, 102.01it/s]
960it [00:09, 97.19it/s] 
971it [00:09, 99.85it/s]
983it [00:09, 105.01it/s]
994it [00:10, 103.89it/s]
1005it [00:10, 95.88it/s]
1017it [00:10, 98.60it/s]
1029it [00:10, 102.54it/s]
1041it [00:10, 107.03it/s]
1054it [00:10, 110.25it/s]
1066it [00:10, 109.80it/s]
1078it [00:10, 99.68it/s] 
1090it [00:10, 104.90it/s]
1101it [00:11, 101.04it/s]
1112it [00:11, 102.40it/s]
1124it [00:11, 106.33it/s]
1135it [00:11, 105.99it/s]
1146it [00:11, 102.05it/s]
1157it [00:11, 101.84it/s]
1170it [00:11, 108.75it/s]
1181it [00:11, 100.40it/s]
1193it [00:11, 104.92it/s]
1205it [00:12, 108.81it/s]
1218it [00:12, 114.66it/s]
1231it [00:12, 118.36it/s]
1243it [00:12, 116.04it/s]
1255it [00:12, 108.41it/s]
1269it [00:12, 113.27it/s]
1282it [00:12, 116.79it/s]
1294it [00:12, 114.25it/s]
1307it [00:12, 117.89it/s]
1319it [00:13, 117.06it/s]
1332it [00:13, 119.41it/s]
1346it [00:13, 123.15it/s]
1359it [00:13, 119.37it/s]
1371it [00:13, 118.29it/s]
1383it [00:13, 115.78it/s]
1395it [00:13, 111.81it/s]
1408it [00:13, 114.91it/s]
1422it [00:13, 119.79it/s]
1436it [00:14, 123.56it/s]
1449it [00:14, 124.88it/s]
1462it [00:14, 122.09it/s]
1475it [00:14, 123.97it/s]
1488it [00:14, 123.33it/s]
1501it [00:14, 117.06it/s]
1513it [00:14, 116.86it/s]
1526it [00:14, 119.08it/s]
1539it [00:14, 121.94it/s]
1552it [00:15, 113.73it/s]
1565it [00:15, 117.29it/s]
1577it [00:15, 114.71it/s]
1589it [00:15, 110.83it/s]
1601it [00:15, 112.91it/s]
1613it [00:15, 114.72it/s]
1625it [00:15, 111.05it/s]
1637it [00:15, 111.36it/s]
1649it [00:15, 106.40it/s]
1661it [00:16, 107.75it/s]
1674it [00:16, 113.74it/s]
1686it [00:16, 113.68it/s]
1698it [00:16, 110.26it/s]
1711it [00:16, 113.99it/s]
1723it [00:16, 115.32it/s]
1735it [00:16, 106.15it/s]
1748it [00:16, 112.23it/s]
1760it [00:16, 99.73it/s] 
1771it [00:17, 99.01it/s]
1782it [00:17, 99.69it/s]
1793it [00:17, 102.11it/s]
1804it [00:17, 99.67it/s] 
1817it [00:17, 105.52it/s]
1829it [00:17, 107.84it/s]
1843it [00:17, 113.41it/s]
1855it [00:17, 112.78it/s]
1867it [00:17, 111.26it/s]
1879it [00:18, 107.72it/s]
1890it [00:18, 106.81it/s]
1901it [00:18, 102.20it/s]
1912it [00:18, 103.56it/s]
1923it [00:18, 100.74it/s]
1934it [00:18, 98.90it/s] 
1948it [00:18, 108.33it/s]
1961it [00:18, 113.93it/s]
1974it [00:18, 117.05it/s]
1986it [00:19, 109.73it/s]
1998it [00:19, 106.40it/s]
2010it [00:19, 108.79it/s]
2021it [00:19, 104.36it/s]
2032it [00:19, 105.06it/s]
2044it [00:19, 105.31it/s]
2057it [00:19, 109.76it/s]
2069it [00:19, 112.09it/s]
2081it [00:19, 108.22it/s]
2092it [00:20, 103.56it/s]
2103it [00:20, 105.07it/s]
2115it [00:20, 107.34it/s]
2127it [00:20, 110.31it/s]
2139it [00:20, 105.68it/s]
2150it [00:20, 106.26it/s]
2162it [00:20, 108.72it/s]
2173it [00:20, 107.44it/s]
2185it [00:20, 109.12it/s]
2197it [00:20, 110.45it/s]
2209it [00:21, 107.16it/s]
2220it [00:21, 94.21it/s] 
2230it [00:21, 87.48it/s]
2239it [00:21, 87.08it/s]
2249it [00:21, 89.99it/s]
2259it [00:21, 88.65it/s]
2269it [00:21, 88.50it/s]
2279it [00:21, 89.73it/s]
2290it [00:22, 95.26it/s]
2301it [00:22, 99.22it/s]
2314it [00:22, 106.69it/s]
2327it [00:22, 113.11it/s]
2340it [00:22, 117.59it/s]
2352it [00:22, 115.03it/s]
2364it [00:22, 112.28it/s]
2377it [00:22, 117.19it/s]
2389it [00:22, 110.07it/s]
2401it [00:23, 108.57it/s]
2413it [00:23, 109.12it/s]
2424it [00:23, 106.89it/s]
2437it [00:23, 112.11it/s]
2450it [00:23, 111.34it/s]
2462it [00:23, 111.95it/s]
2474it [00:23, 107.42it/s]
2485it [00:23, 105.69it/s]
2497it [00:23, 108.18it/s]
2510it [00:23, 112.22it/s]
2522it [00:24, 112.82it/s]
2534it [00:24, 108.32it/s]
2545it [00:24, 106.10it/s]
2556it [00:24, 99.87it/s] 
2567it [00:24, 94.68it/s]
2577it [00:24, 91.53it/s]
2590it [00:24, 99.84it/s]
2603it [00:24, 106.40it/s]
2614it [00:25, 106.26it/s]
2627it [00:25, 111.84it/s]
2640it [00:25, 116.57it/s]
2652it [00:25, 114.05it/s]
2664it [00:25, 115.67it/s]
2676it [00:25, 108.43it/s]
2690it [00:25, 117.07it/s]
2702it [00:25, 115.01it/s]
2714it [00:25, 112.29it/s]
2726it [00:25, 110.78it/s]
2740it [00:26, 116.95it/s]
2754it [00:26, 121.94it/s]
2768it [00:26, 124.24it/s]
2781it [00:26, 121.13it/s]
2794it [00:26, 119.42it/s]
2806it [00:26, 113.45it/s]
2818it [00:26, 112.78it/s]
2830it [00:26, 110.57it/s]
2842it [00:26, 112.18it/s]
2854it [00:27, 100.69it/s]
2865it [00:27, 99.06it/s] 
2878it [00:27, 106.66it/s]
2889it [00:27, 107.52it/s]
2900it [00:27, 99.52it/s] 
2911it [00:27, 97.40it/s]
2925it [00:27, 107.47it/s]
2937it [00:27, 109.80it/s]
2949it [00:28, 109.01it/s]
2961it [00:28, 109.02it/s]
2973it [00:28, 110.24it/s]
2985it [00:28, 109.02it/s]
2997it [00:28, 109.65it/s]
3009it [00:28, 112.32it/s]
3021it [00:28, 107.49it/s]
3032it [00:28, 106.99it/s]
3043it [00:28, 103.10it/s]
3054it [00:29, 103.26it/s]
3067it [00:29, 109.52it/s]
3080it [00:29, 114.01it/s]
3092it [00:29, 113.72it/s]
3106it [00:29, 120.36it/s]
3119it [00:29, 114.26it/s]
3131it [00:29, 109.93it/s]
3143it [00:29, 112.05it/s]
3155it [00:29, 109.18it/s]
3166it [00:29, 109.03it/s]
3177it [00:30, 100.34it/s]
3191it [00:30, 109.91it/s]
3203it [00:30, 107.44it/s]
3214it [00:30, 96.42it/s] 
3227it [00:30, 103.31it/s]
3239it [00:30, 107.38it/s]
3252it [00:30, 111.97it/s]
3264it [00:30, 112.37it/s]
3276it [00:31, 109.65it/s]
3288it [00:31, 108.92it/s]
3299it [00:31, 105.64it/s]
3310it [00:31, 98.89it/s] 
3320it [00:31, 98.42it/s]
3334it [00:31, 108.02it/s]
3345it [00:31, 106.99it/s]
3356it [00:31, 105.96it/s]
3367it [00:31, 102.48it/s]
3378it [00:32, 102.85it/s]
3390it [00:32, 107.60it/s]
3405it [00:32, 117.60it/s]
3417it [00:32, 108.03it/s]
3428it [00:32, 107.99it/s]
3440it [00:32, 109.87it/s]
3452it [00:32, 108.74it/s]
3465it [00:32, 114.50it/s]
3478it [00:32, 117.23it/s]
3490it [00:33, 113.71it/s]
3503it [00:33, 115.90it/s]
3515it [00:33, 107.28it/s]
3528it [00:33, 111.76it/s]
3542it [00:33, 116.27it/s]
3554it [00:33, 104.89it/s]
3565it [00:33, 105.82it/s]
3577it [00:33, 109.49it/s]
3590it [00:33, 114.69it/s]
3602it [00:34, 108.50it/s]
3614it [00:34, 105.41it/s]
3625it [00:34, 100.06it/s]
3636it [00:34, 96.87it/s] 
3648it [00:34, 99.71it/s]
3660it [00:34, 104.93it/s]
3673it [00:34, 111.72it/s]
3685it [00:34, 105.68it/s]
3696it [00:34, 105.43it/s]
3707it [00:35, 103.10it/s]
3719it [00:35, 106.03it/s]
3730it [00:35, 106.13it/s]
3745it [00:35, 116.48it/s]
3758it [00:35, 119.40it/s]
3772it [00:35, 124.07it/s]
3785it [00:35, 119.06it/s]
3797it [00:35, 118.72it/s]
3809it [00:35, 112.32it/s]
3821it [00:36, 100.50it/s]
3834it [00:36, 103.28it/s]
3846it [00:36, 107.47it/s]
3859it [00:36, 112.57it/s]
3873it [00:36, 117.67it/s]
3885it [00:36, 108.48it/s]
3897it [00:36, 108.81it/s]
3910it [00:36, 114.13it/s]
3922it [00:36, 113.35it/s]
3934it [00:37, 111.99it/s]
3946it [00:37, 112.66it/s]
3958it [00:37, 111.09it/s]
3970it [00:37, 111.90it/s]
3982it [00:37, 111.73it/s]
3994it [00:37, 107.26it/s]
4006it [00:37, 107.92it/s]
4019it [00:37, 112.44it/s]
4031it [00:37, 111.11it/s]
4043it [00:38, 106.57it/s]
4055it [00:38, 102.56it/s]
4067it [00:38, 106.44it/s]
4080it [00:38, 111.62it/s]
4092it [00:38, 110.23it/s]
4104it [00:38, 111.81it/s]
4118it [00:38, 118.63it/s]
4131it [00:38, 120.70it/s]
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Track data saved to /working/e3df0bbe-97cf-4dbd-904d-e607401d1c20/processing/data/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/e3df0bbe-97cf-4dbd-904d-e607401d1c20/processing/data/laser_aligned.ptd.cbor