=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.9
Input file:  /working/ce22f3f7-d1ee-478f-b2c7-5064284bbeb7/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 -=-=-=-=-=-=-
2025-12-22T08:19:25 - INFO:  Reading sonar track took 0.0075931549072265625 sec!
2025-12-22T08:19:25 - INFO:  Reading sonar alignment track took {0.005314826965332031} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  0%|          | 1/200 [00:00<00:21,  9.16it/s]
  2%|▏         | 4/200 [00:00<00:11, 17.46it/s]
  4%|▎         | 7/200 [00:00<00:09, 20.58it/s]
  5%|▌         | 10/200 [00:00<00:08, 21.15it/s]
  6%|▋         | 13/200 [00:00<00:08, 22.53it/s]
  8%|▊         | 16/200 [00:00<00:07, 23.28it/s]
 10%|▉         | 19/200 [00:00<00:07, 23.78it/s]
 11%|█         | 22/200 [00:00<00:07, 23.49it/s]
 12%|█▎        | 25/200 [00:01<00:07, 24.32it/s]
 14%|█▍        | 28/200 [00:01<00:06, 25.23it/s]
 16%|█▌        | 31/200 [00:01<00:07, 23.73it/s]
 17%|█▋        | 34/200 [00:01<00:06, 24.30it/s]
 18%|█▊        | 37/200 [00:01<00:06, 25.22it/s]
 20%|██        | 40/200 [00:01<00:06, 26.40it/s]
 22%|██▏       | 43/200 [00:01<00:06, 25.92it/s]
 23%|██▎       | 46/200 [00:01<00:06, 22.48it/s]
 24%|██▍       | 49/200 [00:02<00:06, 22.31it/s]
 26%|██▌       | 52/200 [00:02<00:06, 21.59it/s]
 28%|██▊       | 55/200 [00:02<00:06, 22.52it/s]
 29%|██▉       | 58/200 [00:02<00:06, 22.60it/s]
 30%|███       | 61/200 [00:02<00:06, 22.38it/s]
 32%|███▏      | 64/200 [00:02<00:05, 23.69it/s]
 34%|███▎      | 67/200 [00:02<00:05, 24.74it/s]
 35%|███▌      | 70/200 [00:03<00:05, 24.67it/s]
 36%|███▋      | 73/200 [00:03<00:05, 23.88it/s]
 38%|███▊      | 76/200 [00:03<00:05, 24.39it/s]
 40%|███▉      | 79/200 [00:03<00:05, 22.73it/s]
 41%|████      | 82/200 [00:03<00:05, 21.66it/s]
 42%|████▎     | 85/200 [00:03<00:05, 21.94it/s]
 44%|████▍     | 88/200 [00:03<00:06, 18.54it/s]
 46%|████▌     | 91/200 [00:04<00:05, 19.98it/s]
 47%|████▋     | 94/200 [00:04<00:04, 22.02it/s]
 48%|████▊     | 97/200 [00:04<00:04, 23.58it/s]
 50%|█████     | 100/200 [00:04<00:04, 23.57it/s]
 52%|█████▏    | 103/200 [00:04<00:03, 24.79it/s]
 53%|█████▎    | 106/200 [00:04<00:04, 23.29it/s]
 55%|█████▍    | 109/200 [00:04<00:03, 24.58it/s]
 56%|█████▌    | 112/200 [00:04<00:03, 24.83it/s]
 57%|█████▊    | 115/200 [00:04<00:03, 24.99it/s]
 59%|█████▉    | 118/200 [00:05<00:03, 25.05it/s]
 60%|██████    | 121/200 [00:05<00:03, 24.24it/s]
 62%|██████▏   | 124/200 [00:05<00:03, 25.04it/s]
 64%|██████▎   | 127/200 [00:05<00:02, 24.81it/s]
 65%|██████▌   | 130/200 [00:05<00:02, 24.03it/s]
 66%|██████▋   | 133/200 [00:05<00:02, 23.20it/s]
 68%|██████▊   | 136/200 [00:05<00:02, 22.30it/s]
 70%|██████▉   | 139/200 [00:06<00:02, 22.75it/s]
 71%|███████   | 142/200 [00:06<00:02, 24.34it/s]
 72%|███████▎  | 145/200 [00:06<00:02, 23.75it/s]
 74%|███████▍  | 148/200 [00:06<00:02, 24.90it/s]
 76%|███████▌  | 151/200 [00:06<00:02, 23.96it/s]
 77%|███████▋  | 154/200 [00:06<00:01, 23.06it/s]
 78%|███████▊  | 157/200 [00:06<00:01, 22.80it/s]
 80%|████████  | 160/200 [00:06<00:01, 21.60it/s]
 82%|████████▏ | 163/200 [00:07<00:01, 22.50it/s]
 83%|████████▎ | 166/200 [00:07<00:01, 24.05it/s]
 84%|████████▍ | 169/200 [00:07<00:01, 23.10it/s]
 86%|████████▌ | 172/200 [00:07<00:01, 23.61it/s]
 88%|████████▊ | 175/200 [00:07<00:01, 23.21it/s]
 89%|████████▉ | 178/200 [00:07<00:00, 22.81it/s]
 90%|█████████ | 181/200 [00:07<00:00, 23.62it/s]
 92%|█████████▏| 184/200 [00:07<00:00, 24.32it/s]
 94%|█████████▎| 187/200 [00:08<00:00, 23.94it/s]
 95%|█████████▌| 190/200 [00:08<00:00, 24.34it/s]
 96%|█████████▋| 193/200 [00:08<00:00, 25.29it/s]
 98%|█████████▊| 196/200 [00:08<00:00, 23.62it/s]
100%|█████████▉| 199/200 [00:08<00:00, 23.71it/s]
100%|██████████| 200/200 [00:08<00:00, 23.36it/s]
 Median Scale of 200 frame found to be: 1.0401511453795225
 Fit to reference shape: 

0it [00:00, ?it/s]
5it [00:00, 46.51it/s]
10it [00:00, 45.35it/s]
17it [00:00, 52.24it/s]
26it [00:00, 63.25it/s]
35it [00:00, 71.88it/s]
44it [00:00, 76.74it/s]
53it [00:00, 80.82it/s]
62it [00:00, 75.28it/s]
70it [00:01, 68.92it/s]
78it [00:01, 64.91it/s]
91it [00:01, 80.41it/s]
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113it [00:01, 93.65it/s]
125it [00:01, 99.23it/s]
140it [00:01, 110.41it/s]
152it [00:01, 110.94it/s]
164it [00:01, 102.03it/s]
176it [00:02, 105.19it/s]
187it [00:02, 105.12it/s]
199it [00:02, 109.20it/s]
211it [00:02, 109.86it/s]
224it [00:02, 114.48it/s]
236it [00:02, 107.15it/s]
247it [00:02, 104.09it/s]
261it [00:02, 112.95it/s]
274it [00:02, 116.47it/s]
286it [00:03, 113.94it/s]
299it [00:03, 116.87it/s]
311it [00:03, 117.07it/s]
325it [00:03, 121.97it/s]
339it [00:03, 124.43it/s]
353it [00:03, 128.18it/s]
367it [00:03, 129.79it/s]
380it [00:03, 129.37it/s]
393it [00:03, 117.10it/s]
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420it [00:04, 124.16it/s]
433it [00:04, 125.67it/s]
446it [00:04, 126.42it/s]
459it [00:04, 116.76it/s]
472it [00:04, 119.62it/s]
485it [00:04, 117.70it/s]
497it [00:04, 117.90it/s]
509it [00:04, 112.48it/s]
521it [00:04, 106.07it/s]
535it [00:05, 112.75it/s]
547it [00:05, 113.64it/s]
559it [00:05, 114.08it/s]
571it [00:05, 110.91it/s]
583it [00:05, 101.12it/s]
595it [00:05, 105.28it/s]
609it [00:05, 113.28it/s]
622it [00:05, 115.79it/s]
634it [00:05, 115.55it/s]
646it [00:06, 114.15it/s]
658it [00:06, 113.88it/s]
671it [00:06, 118.29it/s]
683it [00:06, 117.45it/s]
697it [00:06, 123.36it/s]
710it [00:06, 119.70it/s]
723it [00:06, 120.51it/s]
736it [00:06, 122.49it/s]
749it [00:06, 114.50it/s]
763it [00:07, 121.28it/s]
776it [00:07, 119.17it/s]
789it [00:07, 113.79it/s]
801it [00:07, 114.74it/s]
814it [00:07, 117.34it/s]
826it [00:07, 116.73it/s]
838it [00:07, 115.37it/s]
850it [00:07, 109.57it/s]
862it [00:07, 104.72it/s]
875it [00:08, 109.94it/s]
888it [00:08, 113.41it/s]
900it [00:08, 104.07it/s]
913it [00:08, 110.54it/s]
926it [00:08, 113.63it/s]
939it [00:08, 116.70it/s]
955it [00:08, 125.80it/s]
968it [00:08, 114.45it/s]
980it [00:09, 110.62it/s]
995it [00:09, 119.65it/s]
1008it [00:09, 119.10it/s]
1022it [00:09, 123.14it/s]
1035it [00:09, 118.94it/s]
1047it [00:09, 112.04it/s]
1059it [00:09, 113.38it/s]
1071it [00:09, 101.12it/s]
1082it [00:09, 97.93it/s] 
1092it [00:10, 90.59it/s]
1102it [00:10, 92.04it/s]
1112it [00:10, 93.38it/s]
1124it [00:10, 100.42it/s]
1135it [00:10, 98.73it/s] 
1145it [00:10, 96.67it/s]
1155it [00:10, 96.98it/s]
1168it [00:10, 104.50it/s]
1180it [00:10, 107.62it/s]
1191it [00:11, 107.89it/s]
1204it [00:11, 114.10it/s]
1216it [00:11, 115.52it/s]
1230it [00:11, 121.54it/s]
1244it [00:11, 124.91it/s]
1257it [00:11, 114.48it/s]
1270it [00:11, 118.32it/s]
1283it [00:11, 117.87it/s]
1296it [00:11, 118.36it/s]
1308it [00:11, 116.67it/s]
1320it [00:12, 116.41it/s]
1332it [00:12, 110.82it/s]
1344it [00:12, 113.16it/s]
1357it [00:12, 115.24it/s]
1369it [00:12, 114.97it/s]
1381it [00:12, 114.33it/s]
1393it [00:12, 115.30it/s]
1405it [00:12, 112.71it/s]
1417it [00:12, 112.92it/s]
1429it [00:13, 109.51it/s]
1441it [00:13, 110.57it/s]
1453it [00:13, 108.95it/s]
1466it [00:13, 113.19it/s]
1480it [00:13, 118.41it/s]
1492it [00:13, 116.29it/s]
1505it [00:13, 118.12it/s]
1517it [00:13, 118.02it/s]
1530it [00:13, 121.46it/s]
1543it [00:14, 123.76it/s]
1557it [00:14, 125.93it/s]
1570it [00:14, 123.97it/s]
1583it [00:14, 116.91it/s]
1595it [00:14, 103.93it/s]
1610it [00:14, 114.59it/s]
1623it [00:14, 116.52it/s]
1635it [00:14, 109.31it/s]
1647it [00:14, 111.61it/s]
1659it [00:15, 113.20it/s]
1671it [00:15, 110.08it/s]
1683it [00:15, 110.01it/s]
1695it [00:15, 112.77it/s]
1707it [00:15, 111.57it/s]
1719it [00:15, 109.16it/s]
1734it [00:15, 119.04it/s]
1746it [00:15, 116.60it/s]
1758it [00:15, 106.31it/s]
1773it [00:16, 116.53it/s]
1786it [00:16, 119.36it/s]
1799it [00:16, 115.78it/s]
1811it [00:16, 116.57it/s]
1823it [00:16, 116.17it/s]
1835it [00:16, 110.12it/s]
1847it [00:16, 111.78it/s]
1860it [00:16, 116.80it/s]
1872it [00:16, 112.46it/s]
1884it [00:17, 112.46it/s]
1897it [00:17, 111.73it/s]
1910it [00:17, 114.87it/s]
1924it [00:17, 119.93it/s]
1937it [00:17, 113.96it/s]
1949it [00:17, 112.93it/s]
1961it [00:17, 111.60it/s]
1973it [00:17, 108.17it/s]
1986it [00:17, 109.81it/s]
1998it [00:18, 110.06it/s]
2010it [00:18, 108.55it/s]
2021it [00:18, 97.70it/s] 
2034it [00:18, 101.31it/s]
2047it [00:18, 105.49it/s]
2058it [00:18, 104.89it/s]
2071it [00:18, 104.68it/s]
2085it [00:18, 112.66it/s]
2097it [00:19, 102.57it/s]
2110it [00:19, 107.03it/s]
2123it [00:19, 111.70it/s]
2135it [00:19, 111.32it/s]
2147it [00:19, 107.70it/s]
2160it [00:19, 112.94it/s]
2172it [00:19, 105.47it/s]
2186it [00:19, 109.89it/s]
2198it [00:19, 110.29it/s]
2210it [00:20, 111.69it/s]
2222it [00:20, 101.55it/s]
2233it [00:20, 98.43it/s] 
2243it [00:20, 88.42it/s]
2253it [00:20, 90.45it/s]
2266it [00:20, 100.33it/s]
2277it [00:20, 98.79it/s] 
2288it [00:20, 95.30it/s]
2299it [00:20, 97.66it/s]
2309it [00:21, 95.44it/s]
2321it [00:21, 97.74it/s]
2331it [00:21, 90.00it/s]
2341it [00:21, 91.94it/s]
2353it [00:21, 99.37it/s]
2366it [00:21, 104.94it/s]
2377it [00:21, 100.09it/s]
2390it [00:21, 106.53it/s]
2401it [00:22, 101.15it/s]
2412it [00:22, 102.76it/s]
2423it [00:22, 101.17it/s]
2435it [00:22, 105.15it/s]
2446it [00:22, 105.23it/s]
2457it [00:22, 105.32it/s]
2468it [00:22, 103.80it/s]
2479it [00:22, 93.73it/s] 
2491it [00:22, 99.88it/s]
2502it [00:23, 102.61it/s]
2513it [00:23, 104.52it/s]
2527it [00:23, 111.56it/s]
2541it [00:23, 115.28it/s]
2553it [00:23, 115.83it/s]
2566it [00:23, 117.73it/s]
2578it [00:23, 118.08it/s]
2591it [00:23, 117.98it/s]
2603it [00:23, 110.66it/s]
2615it [00:23, 107.91it/s]
2627it [00:24, 106.34it/s]
2638it [00:24, 106.09it/s]
2651it [00:24, 111.68it/s]
2664it [00:24, 111.05it/s]
2676it [00:24, 110.59it/s]
2688it [00:24, 112.61it/s]
2700it [00:24, 114.31it/s]
2712it [00:24, 109.33it/s]
2723it [00:25, 100.60it/s]
2735it [00:25, 105.72it/s]
2746it [00:25, 89.81it/s] 
2756it [00:25, 91.59it/s]
2766it [00:25, 87.00it/s]
2775it [00:25, 83.26it/s]
2784it [00:25, 82.43it/s]
2794it [00:25, 86.73it/s]
2804it [00:25, 85.87it/s]
2813it [00:26, 85.74it/s]
2824it [00:26, 90.56it/s]
2836it [00:26, 97.13it/s]
2846it [00:26, 96.63it/s]
2857it [00:26, 98.96it/s]
2867it [00:26, 97.91it/s]
2880it [00:26, 106.50it/s]
2891it [00:26, 99.13it/s] 
2902it [00:26, 98.95it/s]
2912it [00:27, 99.22it/s]
2922it [00:27, 91.76it/s]
2935it [00:27, 100.05it/s]
2947it [00:27, 104.67it/s]
2958it [00:27, 105.32it/s]
2971it [00:27, 109.71it/s]
2983it [00:27, 100.80it/s]
2995it [00:27, 104.98it/s]
3007it [00:27, 108.92it/s]
3019it [00:28, 104.32it/s]
3030it [00:28, 101.49it/s]
3043it [00:28, 107.61it/s]
3054it [00:28, 107.92it/s]
3066it [00:28, 109.45it/s]
3078it [00:28, 107.87it/s]
3092it [00:28, 115.13it/s]
3105it [00:28, 118.19it/s]
3117it [00:28, 110.59it/s]
3129it [00:29, 101.20it/s]
3142it [00:29, 108.15it/s]
3154it [00:29, 110.68it/s]
3166it [00:29, 108.60it/s]
3178it [00:29, 107.41it/s]
3189it [00:29, 101.48it/s]
3200it [00:29, 102.53it/s]
3211it [00:29, 96.01it/s] 
3222it [00:29, 98.99it/s]
3234it [00:30, 103.14it/s]
3245it [00:30, 95.03it/s] 
3256it [00:30, 97.46it/s]
3267it [00:30, 98.72it/s]
3278it [00:30, 101.32it/s]
3289it [00:30, 100.00it/s]
3301it [00:30, 104.33it/s]
3312it [00:30, 105.14it/s]
3323it [00:30, 104.78it/s]
3334it [00:31, 97.75it/s] 
3346it [00:31, 102.56it/s]
3357it [00:31, 103.61it/s]
3368it [00:31, 96.35it/s] 
3379it [00:31, 96.62it/s]
3389it [00:31, 97.25it/s]
3399it [00:31, 95.77it/s]
3413it [00:31, 102.75it/s]
3425it [00:31, 106.85it/s]
3437it [00:32, 110.24it/s]
3449it [00:32, 100.46it/s]
3460it [00:32, 98.49it/s] 
3474it [00:32, 107.47it/s]
3485it [00:32, 106.75it/s]
3496it [00:32, 106.56it/s]
3508it [00:32, 108.27it/s]
3519it [00:32, 108.59it/s]
3531it [00:32, 110.42it/s]
3543it [00:33, 106.04it/s]
3555it [00:33, 107.56it/s]
3567it [00:33, 105.35it/s]
3578it [00:33, 105.39it/s]
3589it [00:33, 105.22it/s]
3600it [00:33, 105.77it/s]
3611it [00:33, 93.60it/s] 
3622it [00:33, 95.58it/s]
3634it [00:33, 101.75it/s]
3646it [00:34, 105.16it/s]
3658it [00:34, 108.15it/s]
3669it [00:34, 100.49it/s]
3680it [00:34, 99.42it/s] 
3692it [00:34, 103.57it/s]
3705it [00:34, 110.86it/s]
3717it [00:34, 111.16it/s]
3729it [00:34, 110.39it/s]
3741it [00:34, 109.44it/s]
3754it [00:35, 114.00it/s]
3766it [00:35, 108.08it/s]
3778it [00:35, 110.65it/s]
3790it [00:35, 111.33it/s]
3802it [00:35, 112.51it/s]
3814it [00:35, 114.14it/s]
3827it [00:35, 116.14it/s]
3839it [00:35, 112.74it/s]
3851it [00:35, 108.49it/s]
3862it [00:36, 107.90it/s]
3873it [00:36, 107.10it/s]
3884it [00:36, 101.21it/s]
3895it [00:36, 102.93it/s]
3906it [00:36, 103.18it/s]
3917it [00:36, 99.24it/s] 
3927it [00:36, 96.14it/s]
3938it [00:36, 98.69it/s]
3949it [00:36, 97.79it/s]
3961it [00:37, 103.04it/s]
3972it [00:37, 102.14it/s]
3983it [00:37, 99.26it/s] 
3993it [00:37, 95.56it/s]
4004it [00:37, 97.87it/s]
4014it [00:37, 97.83it/s]
4026it [00:37, 101.52it/s]
4040it [00:37, 110.49it/s]
4054it [00:37, 116.81it/s]
4067it [00:38, 115.25it/s]
4079it [00:38, 110.75it/s]
4091it [00:38, 110.22it/s]
4103it [00:38, 109.62it/s]
4114it [00:38, 102.99it/s]
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Track data saved to /working/ce22f3f7-d1ee-478f-b2c7-5064284bbeb7/processing/data/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/ce22f3f7-d1ee-478f-b2c7-5064284bbeb7/processing/data/laser_aligned.ptd.cbor