=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.9
Input file:  /working/cd37c461-024f-4f8a-8d53-3a7de2d8a546/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 -=-=-=-=-=-=-
2025-12-22T08:18:54 - INFO:  Reading sonar track took 0.005713701248168945 sec!
2025-12-22T08:18:54 - INFO:  Reading sonar alignment track took {0.0006389617919921875} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  1%|          | 2/200 [00:00<00:16, 11.87it/s]
  2%|▏         | 4/200 [00:00<00:14, 13.09it/s]
  4%|▎         | 7/200 [00:00<00:11, 17.14it/s]
  5%|▌         | 10/200 [00:00<00:09, 20.98it/s]
  6%|▋         | 13/200 [00:00<00:08, 22.76it/s]
  8%|▊         | 16/200 [00:00<00:09, 19.34it/s]
 10%|▉         | 19/200 [00:00<00:08, 21.08it/s]
 11%|█         | 22/200 [00:01<00:08, 22.10it/s]
 13%|█▎        | 26/200 [00:01<00:07, 23.70it/s]
 14%|█▍        | 29/200 [00:01<00:06, 24.67it/s]
 16%|█▌        | 32/200 [00:01<00:07, 23.11it/s]
 18%|█▊        | 36/200 [00:01<00:06, 24.44it/s]
 20%|██        | 40/200 [00:01<00:06, 25.59it/s]
 22%|██▏       | 43/200 [00:01<00:06, 23.99it/s]
 24%|██▎       | 47/200 [00:02<00:06, 25.21it/s]
 25%|██▌       | 50/200 [00:02<00:05, 25.20it/s]
 26%|██▋       | 53/200 [00:02<00:05, 25.52it/s]
 28%|██▊       | 56/200 [00:02<00:05, 26.24it/s]
 30%|██▉       | 59/200 [00:02<00:05, 26.89it/s]
 31%|███       | 62/200 [00:02<00:05, 25.07it/s]
 33%|███▎      | 66/200 [00:02<00:05, 26.10it/s]
 34%|███▍      | 69/200 [00:02<00:05, 25.10it/s]
 36%|███▌      | 72/200 [00:03<00:04, 25.74it/s]
 38%|███▊      | 75/200 [00:03<00:04, 26.42it/s]
 39%|███▉      | 78/200 [00:03<00:05, 24.14it/s]
 40%|████      | 81/200 [00:03<00:05, 23.39it/s]
 42%|████▏     | 84/200 [00:03<00:05, 21.46it/s]
 44%|████▎     | 87/200 [00:03<00:05, 21.30it/s]
 45%|████▌     | 90/200 [00:03<00:05, 21.94it/s]
 46%|████▋     | 93/200 [00:04<00:04, 21.96it/s]
 48%|████▊     | 96/200 [00:04<00:04, 21.94it/s]
 50%|████▉     | 99/200 [00:04<00:04, 20.88it/s]
 52%|█████▏    | 103/200 [00:04<00:04, 23.20it/s]
 53%|█████▎    | 106/200 [00:04<00:03, 24.70it/s]
 55%|█████▍    | 109/200 [00:04<00:03, 24.40it/s]
 56%|█████▌    | 112/200 [00:04<00:03, 23.51it/s]
 57%|█████▊    | 115/200 [00:04<00:03, 24.03it/s]
 59%|█████▉    | 118/200 [00:05<00:03, 24.65it/s]
 61%|██████    | 122/200 [00:05<00:03, 24.76it/s]
 62%|██████▎   | 125/200 [00:05<00:03, 23.40it/s]
 64%|██████▍   | 128/200 [00:05<00:03, 23.92it/s]
 66%|██████▌   | 131/200 [00:05<00:02, 23.45it/s]
 67%|██████▋   | 134/200 [00:05<00:02, 25.00it/s]
 68%|██████▊   | 137/200 [00:05<00:02, 22.68it/s]
 70%|███████   | 141/200 [00:06<00:02, 24.78it/s]
 72%|███████▏  | 144/200 [00:06<00:02, 25.50it/s]
 74%|███████▍  | 148/200 [00:06<00:01, 26.34it/s]
 76%|███████▌  | 151/200 [00:06<00:01, 25.45it/s]
 77%|███████▋  | 154/200 [00:06<00:01, 26.11it/s]
 78%|███████▊  | 157/200 [00:06<00:01, 24.63it/s]
 80%|████████  | 160/200 [00:06<00:01, 25.56it/s]
 82%|████████▏ | 163/200 [00:06<00:01, 22.60it/s]
 83%|████████▎ | 166/200 [00:07<00:01, 21.44it/s]
 84%|████████▍ | 169/200 [00:07<00:01, 21.42it/s]
 86%|████████▌ | 172/200 [00:07<00:01, 22.42it/s]
 88%|████████▊ | 175/200 [00:07<00:01, 22.36it/s]
 90%|████████▉ | 179/200 [00:07<00:00, 24.61it/s]
 91%|█████████ | 182/200 [00:07<00:00, 23.81it/s]
 92%|█████████▎| 185/200 [00:07<00:00, 21.29it/s]
 94%|█████████▍| 188/200 [00:08<00:00, 21.55it/s]
 96%|█████████▌| 191/200 [00:08<00:00, 21.53it/s]
 97%|█████████▋| 194/200 [00:08<00:00, 22.98it/s]
 98%|█████████▊| 197/200 [00:08<00:00, 23.07it/s]
100%|██████████| 200/200 [00:08<00:00, 21.81it/s]
100%|██████████| 200/200 [00:08<00:00, 23.31it/s]
 Median Scale of 200 frame found to be: 1.1875889506660253
 Fit to reference shape: 

0it [00:00, ?it/s]
2it [00:00, 18.57it/s]
4it [00:00, 17.82it/s]
7it [00:00, 19.31it/s]
10it [00:00, 22.08it/s]
13it [00:00, 20.39it/s]
16it [00:00, 19.12it/s]
18it [00:00, 17.74it/s]
20it [00:01, 17.66it/s]
23it [00:01, 18.78it/s]
25it [00:01, 18.75it/s]
28it [00:01, 21.46it/s]
33it [00:01, 28.76it/s]
41it [00:01, 42.75it/s]
48it [00:01, 49.17it/s]
58it [00:01, 62.72it/s]
68it [00:01, 69.89it/s]
78it [00:02, 76.72it/s]
89it [00:02, 83.27it/s]
98it [00:02, 80.22it/s]
108it [00:02, 83.37it/s]
120it [00:02, 91.81it/s]
130it [00:02, 88.63it/s]
139it [00:02, 81.42it/s]
151it [00:02, 90.32it/s]
163it [00:02, 96.23it/s]
173it [00:03, 95.26it/s]
183it [00:03, 91.91it/s]
194it [00:03, 95.18it/s]
204it [00:03, 92.34it/s]
214it [00:03, 93.31it/s]
226it [00:03, 98.61it/s]
238it [00:03, 102.10it/s]
251it [00:03, 109.28it/s]
262it [00:03, 108.11it/s]
273it [00:04, 103.82it/s]
284it [00:04, 103.79it/s]
295it [00:04, 99.88it/s] 
306it [00:04, 102.37it/s]
317it [00:04, 103.55it/s]
328it [00:04, 100.20it/s]
339it [00:04, 95.18it/s] 
349it [00:04, 90.61it/s]
362it [00:04, 100.07it/s]
373it [00:05, 89.81it/s] 
383it [00:05, 85.76it/s]
394it [00:05, 88.93it/s]
404it [00:05, 90.92it/s]
416it [00:05, 97.16it/s]
428it [00:05, 101.56it/s]
439it [00:05, 93.46it/s] 
451it [00:05, 99.60it/s]
463it [00:06, 104.97it/s]
476it [00:06, 110.94it/s]
488it [00:06, 108.63it/s]
499it [00:06, 108.17it/s]
510it [00:06, 104.32it/s]
521it [00:06, 102.93it/s]
532it [00:06, 98.45it/s] 
545it [00:06, 105.41it/s]
556it [00:06, 105.92it/s]
567it [00:07, 100.50it/s]
578it [00:07, 100.81it/s]
589it [00:07, 93.64it/s] 
601it [00:07, 99.67it/s]
614it [00:07, 106.48it/s]
627it [00:07, 111.76it/s]
639it [00:07, 113.32it/s]
651it [00:07, 106.30it/s]
663it [00:07, 105.32it/s]
674it [00:08, 106.20it/s]
685it [00:08, 103.75it/s]
696it [00:08, 97.49it/s] 
707it [00:08, 100.10it/s]
718it [00:08, 102.57it/s]
729it [00:08, 96.35it/s] 
742it [00:08, 103.77it/s]
753it [00:08, 105.11it/s]
765it [00:08, 106.69it/s]
777it [00:09, 110.05it/s]
790it [00:09, 112.89it/s]
802it [00:09, 112.21it/s]
814it [00:09, 113.48it/s]
826it [00:09, 111.32it/s]
838it [00:09, 97.85it/s] 
850it [00:09, 101.86it/s]
863it [00:09, 107.07it/s]
874it [00:09, 107.86it/s]
885it [00:10, 105.26it/s]
896it [00:10, 104.71it/s]
907it [00:10, 99.88it/s] 
918it [00:10, 98.77it/s]
931it [00:10, 106.18it/s]
943it [00:10, 109.92it/s]
955it [00:10, 99.40it/s] 
966it [00:10, 97.53it/s]
978it [00:10, 102.02it/s]
989it [00:11, 97.20it/s] 
1001it [00:11, 102.28it/s]
1013it [00:11, 106.31it/s]
1025it [00:11, 101.75it/s]
1036it [00:11, 101.28it/s]
1047it [00:11, 102.07it/s]
1059it [00:11, 104.78it/s]
1070it [00:11, 101.84it/s]
1082it [00:11, 105.00it/s]
1094it [00:12, 108.45it/s]
1105it [00:12, 106.01it/s]
1116it [00:12, 106.10it/s]
1127it [00:12, 106.49it/s]
1138it [00:12, 102.78it/s]
1149it [00:12, 102.81it/s]
1160it [00:12, 104.30it/s]
1171it [00:12, 105.93it/s]
1183it [00:12, 108.47it/s]
1195it [00:13, 108.26it/s]
1208it [00:13, 114.32it/s]
1222it [00:13, 119.88it/s]
1235it [00:13, 110.03it/s]
1247it [00:13, 109.44it/s]
1259it [00:13, 99.39it/s] 
1272it [00:13, 105.60it/s]
1286it [00:13, 112.31it/s]
1298it [00:14, 102.13it/s]
1311it [00:14, 108.65it/s]
1323it [00:14, 110.46it/s]
1336it [00:14, 108.07it/s]
1347it [00:14, 108.19it/s]
1358it [00:14, 104.38it/s]
1370it [00:14, 106.59it/s]
1382it [00:14, 109.15it/s]
1395it [00:14, 112.42it/s]
1407it [00:14, 111.09it/s]
1419it [00:15, 109.03it/s]
1430it [00:15, 106.21it/s]
1441it [00:15, 102.76it/s]
1453it [00:15, 104.96it/s]
1464it [00:15, 99.83it/s] 
1477it [00:15, 107.10it/s]
1488it [00:15, 101.76it/s]
1499it [00:15, 101.36it/s]
1510it [00:15, 102.43it/s]
1521it [00:16, 103.31it/s]
1532it [00:16, 104.83it/s]
1543it [00:16, 100.10it/s]
1555it [00:16, 102.99it/s]
1566it [00:16, 104.47it/s]
1578it [00:16, 108.06it/s]
1589it [00:16, 107.77it/s]
1600it [00:16, 97.81it/s] 
1611it [00:16, 100.40it/s]
1623it [00:17, 104.91it/s]
1636it [00:17, 110.29it/s]
1650it [00:17, 116.95it/s]
1663it [00:17, 120.68it/s]
1676it [00:17, 113.54it/s]
1688it [00:17, 114.90it/s]
1700it [00:17, 104.45it/s]
1711it [00:17, 104.26it/s]
1722it [00:18, 95.97it/s] 
1736it [00:18, 106.11it/s]
1747it [00:18, 98.99it/s] 
1760it [00:18, 104.48it/s]
1772it [00:18, 108.30it/s]
1784it [00:18, 107.89it/s]
1797it [00:18, 112.13it/s]
1809it [00:18, 107.26it/s]
1821it [00:18, 108.48it/s]
1834it [00:19, 108.99it/s]
1846it [00:19, 111.87it/s]
1858it [00:19, 111.96it/s]
1870it [00:19, 113.71it/s]
1883it [00:19, 116.93it/s]
1895it [00:19, 111.28it/s]
1907it [00:19, 100.70it/s]
1919it [00:19, 105.45it/s]
1932it [00:19, 111.65it/s]
1944it [00:20, 113.56it/s]
1956it [00:20, 104.12it/s]
1970it [00:20, 112.80it/s]
1982it [00:20, 113.36it/s]
1995it [00:20, 117.19it/s]
2007it [00:20, 106.73it/s]
2018it [00:20, 105.07it/s]
2029it [00:20, 104.23it/s]
2041it [00:20, 107.79it/s]
2052it [00:21, 106.65it/s]
2063it [00:21, 104.52it/s]
2075it [00:21, 107.95it/s]
2087it [00:21, 107.96it/s]
2098it [00:21, 104.87it/s]
2112it [00:21, 112.59it/s]
2125it [00:21, 116.67it/s]
2140it [00:21, 123.85it/s]
2153it [00:21, 123.75it/s]
2166it [00:21, 119.94it/s]
2179it [00:22, 119.76it/s]
2192it [00:22, 119.31it/s]
2204it [00:22, 115.81it/s]
2216it [00:22, 114.82it/s]
2228it [00:22, 111.64it/s]
2240it [00:22, 105.94it/s]
2252it [00:22, 108.07it/s]
2265it [00:22, 105.98it/s]
2277it [00:23, 108.38it/s]
2288it [00:23, 108.28it/s]
2299it [00:23, 105.76it/s]
2310it [00:23, 100.98it/s]
2321it [00:23, 99.36it/s] 
2331it [00:23, 98.32it/s]
2342it [00:23, 101.53it/s]
2355it [00:23, 109.40it/s]
2367it [00:23, 106.83it/s]
2378it [00:24, 102.29it/s]
2390it [00:24, 105.78it/s]
2401it [00:24, 99.84it/s] 
2412it [00:24, 101.30it/s]
2424it [00:24, 105.09it/s]
2435it [00:24, 100.19it/s]
2446it [00:24, 95.06it/s] 
2456it [00:24, 93.59it/s]
2467it [00:24, 96.23it/s]
2477it [00:25, 95.50it/s]
2487it [00:25, 90.55it/s]
2497it [00:25, 91.64it/s]
2507it [00:25, 90.25it/s]
2517it [00:25, 92.17it/s]
2527it [00:25, 89.79it/s]
2540it [00:25, 99.90it/s]
2551it [00:25, 99.86it/s]
2563it [00:25, 105.50it/s]
2575it [00:26, 103.52it/s]
2588it [00:26, 110.45it/s]
2600it [00:26, 105.19it/s]
2611it [00:26, 103.89it/s]
2622it [00:26, 104.87it/s]
2634it [00:26, 106.13it/s]
2647it [00:26, 108.82it/s]
2658it [00:26, 108.77it/s]
2671it [00:26, 112.04it/s]
2683it [00:27, 106.24it/s]
2695it [00:27, 107.98it/s]
2706it [00:27, 100.48it/s]
2718it [00:27, 99.96it/s] 
2730it [00:27, 103.35it/s]
2742it [00:27, 107.65it/s]
2753it [00:27, 94.39it/s] 
2765it [00:27, 99.34it/s]
2776it [00:27, 98.87it/s]
2789it [00:28, 105.59it/s]
2800it [00:28, 104.51it/s]
2811it [00:28, 104.76it/s]
2822it [00:28, 105.71it/s]
2833it [00:28, 104.46it/s]
2845it [00:28, 107.32it/s]
2858it [00:28, 113.04it/s]
2870it [00:28, 114.18it/s]
2884it [00:28, 121.24it/s]
2897it [00:29, 121.25it/s]
2910it [00:29, 108.09it/s]
2922it [00:29, 106.26it/s]
2933it [00:29, 98.71it/s] 
2945it [00:29, 103.30it/s]
2958it [00:29, 110.41it/s]
2970it [00:29, 107.41it/s]
2981it [00:29, 105.73it/s]
2993it [00:29, 104.68it/s]
3006it [00:30, 109.25it/s]
3017it [00:30, 108.02it/s]
3028it [00:30, 103.97it/s]
3039it [00:30, 104.13it/s]
3052it [00:30, 106.86it/s]
3063it [00:30, 99.97it/s] 
3074it [00:30, 93.94it/s]
3085it [00:30, 96.93it/s]
3095it [00:30, 97.45it/s]
3105it [00:31, 92.63it/s]
3118it [00:31, 101.13it/s]
3129it [00:31, 102.58it/s]
3142it [00:31, 108.33it/s]
3154it [00:31, 108.92it/s]
3166it [00:31, 111.58it/s]
3178it [00:31, 107.44it/s]
3189it [00:31, 105.94it/s]
3200it [00:31, 104.92it/s]
3211it [00:32, 105.35it/s]
3222it [00:32, 103.73it/s]
3235it [00:32, 110.67it/s]
3248it [00:32, 113.45it/s]
3260it [00:32, 109.96it/s]
3272it [00:32, 104.59it/s]
3283it [00:32, 105.93it/s]
3297it [00:32, 113.92it/s]
3311it [00:32, 119.80it/s]
3324it [00:33, 110.89it/s]
3336it [00:33, 108.51it/s]
3347it [00:33, 100.28it/s]
3360it [00:33, 106.28it/s]
3371it [00:33, 105.60it/s]
3382it [00:33, 105.79it/s]
3395it [00:33, 111.88it/s]
3407it [00:33, 109.05it/s]
3420it [00:33, 109.99it/s]
3432it [00:34, 107.67it/s]
3443it [00:34, 106.50it/s]
3454it [00:34, 98.66it/s] 
3466it [00:34, 104.35it/s]
3477it [00:34, 102.44it/s]
3490it [00:34, 108.01it/s]
3504it [00:34, 115.51it/s]
3516it [00:34, 107.99it/s]
3527it [00:35, 94.95it/s] 
3539it [00:35, 99.96it/s]
3550it [00:35, 97.34it/s]
3561it [00:35, 100.29it/s]
3572it [00:35, 101.25it/s]
3586it [00:35, 110.17it/s]
3598it [00:35, 105.72it/s]
3610it [00:35, 108.21it/s]
3621it [00:35, 104.40it/s]
3633it [00:36, 103.36it/s]
3648it [00:36, 113.12it/s]
3660it [00:36, 114.28it/s]
3672it [00:36, 115.18it/s]
3685it [00:36, 116.60it/s]
3697it [00:36, 102.92it/s]
3709it [00:36, 103.37it/s]
3720it [00:36, 104.20it/s]
3731it [00:36, 102.07it/s]
3743it [00:37, 105.80it/s]
3754it [00:37, 103.03it/s]
3766it [00:37, 106.66it/s]
3779it [00:37, 111.58it/s]
3792it [00:37, 115.60it/s]
3804it [00:37, 116.16it/s]
3816it [00:37, 111.19it/s]
3828it [00:37, 102.43it/s]
3839it [00:37, 102.41it/s]
3853it [00:38, 106.82it/s]
3866it [00:38, 110.49it/s]
3880it [00:38, 116.31it/s]
3892it [00:38, 116.00it/s]
3904it [00:38, 107.44it/s]
3915it [00:38, 94.64it/s] 
3926it [00:38, 97.68it/s]
3938it [00:38, 97.81it/s]
3952it [00:38, 107.08it/s]
3964it [00:39, 109.22it/s]
3976it [00:39, 104.73it/s]
3988it [00:39, 100.50it/s]
3999it [00:39, 96.53it/s] 
4012it [00:39, 104.27it/s]
4023it [00:39, 102.36it/s]
4034it [00:39, 104.18it/s]
4046it [00:39, 105.92it/s]
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Track data saved to /working/cd37c461-024f-4f8a-8d53-3a7de2d8a546/processing/data/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/cd37c461-024f-4f8a-8d53-3a7de2d8a546/processing/data/laser_aligned.ptd.cbor