=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.9
Input file:  /working/f2ac966f-9e5a-4f8e-a06c-13643d189a3e/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 -=-=-=-=-=-=-
2025-12-22T08:19:36 - INFO:  Reading sonar track took 0.009851932525634766 sec!
2025-12-22T08:19:36 - INFO:  Reading sonar alignment track took {0.0005655288696289062} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  2%|▏         | 3/200 [00:00<00:07, 26.57it/s]
  4%|▎         | 7/200 [00:00<00:06, 27.84it/s]
  5%|▌         | 10/200 [00:00<00:08, 23.45it/s]
  7%|▋         | 14/200 [00:00<00:06, 26.95it/s]
  8%|▊         | 17/200 [00:00<00:08, 22.81it/s]
 10%|█         | 20/200 [00:00<00:08, 22.47it/s]
 12%|█▏        | 23/200 [00:00<00:07, 22.54it/s]
 14%|█▎        | 27/200 [00:01<00:06, 25.51it/s]
 16%|█▌        | 31/200 [00:01<00:05, 28.83it/s]
 18%|█▊        | 35/200 [00:01<00:05, 31.37it/s]
 20%|██        | 40/200 [00:01<00:04, 34.03it/s]
 22%|██▏       | 44/200 [00:01<00:04, 33.79it/s]
 24%|██▍       | 48/200 [00:01<00:05, 29.78it/s]
 26%|██▌       | 52/200 [00:01<00:05, 29.36it/s]
 28%|██▊       | 56/200 [00:02<00:05, 27.34it/s]
 30%|██▉       | 59/200 [00:02<00:05, 27.41it/s]
 31%|███       | 62/200 [00:02<00:05, 27.45it/s]
 32%|███▎      | 65/200 [00:02<00:04, 27.30it/s]
 34%|███▍      | 68/200 [00:02<00:05, 23.87it/s]
 36%|███▌      | 71/200 [00:02<00:05, 24.49it/s]
 38%|███▊      | 75/200 [00:02<00:04, 26.01it/s]
 39%|███▉      | 78/200 [00:02<00:04, 26.58it/s]
 40%|████      | 81/200 [00:03<00:05, 23.78it/s]
 42%|████▏     | 84/200 [00:03<00:04, 23.74it/s]
 44%|████▎     | 87/200 [00:03<00:04, 24.41it/s]
 45%|████▌     | 90/200 [00:03<00:04, 25.34it/s]
 46%|████▋     | 93/200 [00:03<00:04, 24.68it/s]
 48%|████▊     | 96/200 [00:03<00:04, 22.78it/s]
 50%|████▉     | 99/200 [00:03<00:04, 24.14it/s]
 51%|█████     | 102/200 [00:03<00:04, 24.39it/s]
 53%|█████▎    | 106/200 [00:04<00:03, 25.92it/s]
 55%|█████▍    | 109/200 [00:04<00:03, 23.89it/s]
 56%|█████▌    | 112/200 [00:04<00:03, 24.15it/s]
 57%|█████▊    | 115/200 [00:04<00:03, 24.77it/s]
 59%|█████▉    | 118/200 [00:04<00:03, 25.42it/s]
 60%|██████    | 121/200 [00:04<00:03, 24.93it/s]
 62%|██████▏   | 124/200 [00:04<00:02, 25.36it/s]
 64%|██████▎   | 127/200 [00:04<00:03, 23.13it/s]
 65%|██████▌   | 130/200 [00:05<00:02, 24.18it/s]
 66%|██████▋   | 133/200 [00:05<00:02, 24.18it/s]
 68%|██████▊   | 136/200 [00:05<00:02, 25.17it/s]
 70%|██████▉   | 139/200 [00:05<00:02, 23.39it/s]
 71%|███████   | 142/200 [00:05<00:02, 24.99it/s]
 72%|███████▎  | 145/200 [00:05<00:02, 25.47it/s]
 74%|███████▍  | 149/200 [00:05<00:01, 26.31it/s]
 76%|███████▌  | 152/200 [00:05<00:01, 25.74it/s]
 78%|███████▊  | 155/200 [00:06<00:01, 26.16it/s]
 79%|███████▉  | 158/200 [00:06<00:01, 25.79it/s]
 80%|████████  | 161/200 [00:06<00:01, 25.56it/s]
 82%|████████▏ | 164/200 [00:06<00:01, 24.46it/s]
 84%|████████▎ | 167/200 [00:06<00:01, 24.44it/s]
 86%|████████▌ | 171/200 [00:06<00:01, 27.48it/s]
 88%|████████▊ | 175/200 [00:06<00:00, 29.01it/s]
 89%|████████▉ | 178/200 [00:06<00:00, 29.08it/s]
 91%|█████████ | 182/200 [00:06<00:00, 29.25it/s]
 92%|█████████▎| 185/200 [00:07<00:00, 28.01it/s]
 94%|█████████▍| 189/200 [00:07<00:00, 28.71it/s]
 96%|█████████▋| 193/200 [00:07<00:00, 29.35it/s]
 98%|█████████▊| 196/200 [00:07<00:00, 27.59it/s]
100%|█████████▉| 199/200 [00:07<00:00, 28.09it/s]
100%|██████████| 200/200 [00:07<00:00, 25.97it/s]
 Median Scale of 200 frame found to be: 1.0469734908310206
 Fit to reference shape: 

0it [00:00, ?it/s]
7it [00:00, 64.15it/s]
14it [00:00, 51.33it/s]
21it [00:00, 57.89it/s]
27it [00:00, 56.22it/s]
33it [00:00, 57.34it/s]
39it [00:00, 57.96it/s]
46it [00:00, 60.73it/s]
53it [00:00, 60.63it/s]
65it [00:01, 72.82it/s]
73it [00:01, 73.01it/s]
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167it [00:02, 72.29it/s]
175it [00:02, 69.28it/s]
183it [00:02, 70.88it/s]
192it [00:02, 75.79it/s]
201it [00:02, 77.97it/s]
209it [00:02, 73.97it/s]
219it [00:02, 79.52it/s]
229it [00:03, 82.83it/s]
240it [00:03, 89.39it/s]
251it [00:03, 93.75it/s]
261it [00:03, 92.21it/s]
272it [00:03, 93.29it/s]
283it [00:03, 96.15it/s]
293it [00:03, 88.10it/s]
302it [00:03, 87.35it/s]
313it [00:03, 93.44it/s]
324it [00:04, 96.95it/s]
334it [00:04, 88.09it/s]
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355it [00:04, 92.61it/s]
367it [00:04, 99.14it/s]
379it [00:04, 104.38it/s]
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402it [00:04, 98.17it/s] 
413it [00:04, 99.32it/s]
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434it [00:05, 89.03it/s]
445it [00:05, 91.25it/s]
455it [00:05, 82.39it/s]
464it [00:05, 83.38it/s]
475it [00:05, 88.79it/s]
485it [00:05, 88.32it/s]
496it [00:05, 91.43it/s]
509it [00:06, 101.70it/s]
523it [00:06, 112.25it/s]
536it [00:06, 115.69it/s]
548it [00:06, 97.83it/s] 
559it [00:06, 93.16it/s]
569it [00:06, 92.89it/s]
579it [00:06, 93.59it/s]
589it [00:06, 93.75it/s]
599it [00:06, 90.71it/s]
609it [00:07, 81.15it/s]
618it [00:07, 75.62it/s]
626it [00:07, 68.77it/s]
634it [00:07, 69.29it/s]
642it [00:07, 69.46it/s]
651it [00:07, 73.50it/s]
660it [00:07, 77.71it/s]
669it [00:07, 78.56it/s]
677it [00:08, 75.75it/s]
685it [00:08, 75.91it/s]
695it [00:08, 81.13it/s]
704it [00:08, 82.09it/s]
714it [00:08, 87.06it/s]
723it [00:08, 86.72it/s]
733it [00:08, 87.96it/s]
743it [00:08, 89.43it/s]
752it [00:08, 86.04it/s]
763it [00:09, 91.19it/s]
780it [00:09, 108.98it/s]
792it [00:09, 110.83it/s]
806it [00:09, 119.05it/s]
820it [00:09, 124.26it/s]
834it [00:09, 126.54it/s]
848it [00:09, 127.83it/s]
861it [00:09, 126.27it/s]
874it [00:09, 106.85it/s]
886it [00:10, 108.20it/s]
898it [00:10, 104.57it/s]
909it [00:10, 102.28it/s]
921it [00:10, 106.56it/s]
932it [00:10, 106.18it/s]
943it [00:10, 105.40it/s]
954it [00:10, 103.96it/s]
968it [00:10, 113.98it/s]
980it [00:10, 104.19it/s]
991it [00:11, 95.04it/s] 
1001it [00:11, 92.04it/s]
1011it [00:11, 92.92it/s]
1024it [00:11, 100.57it/s]
1037it [00:11, 107.83it/s]
1051it [00:11, 115.96it/s]
1063it [00:11, 114.91it/s]
1077it [00:11, 119.30it/s]
1091it [00:11, 124.57it/s]
1104it [00:12, 123.08it/s]
1117it [00:12, 110.87it/s]
1129it [00:12, 106.43it/s]
1140it [00:12, 107.01it/s]
1152it [00:12, 110.27it/s]
1164it [00:12, 98.06it/s] 
1175it [00:12, 95.67it/s]
1189it [00:12, 105.41it/s]
1203it [00:13, 113.73it/s]
1220it [00:13, 127.24it/s]
1234it [00:13, 128.66it/s]
1249it [00:13, 133.67it/s]
1263it [00:13, 133.57it/s]
1277it [00:13, 120.87it/s]
1293it [00:13, 126.35it/s]
1306it [00:13, 117.12it/s]
1318it [00:13, 112.58it/s]
1330it [00:14, 106.30it/s]
1341it [00:14, 101.11it/s]
1352it [00:14, 93.76it/s] 
1362it [00:14, 93.79it/s]
1373it [00:14, 95.94it/s]
1383it [00:14, 89.42it/s]
1393it [00:14, 90.83it/s]
1403it [00:14, 90.46it/s]
1415it [00:15, 97.89it/s]
1427it [00:15, 103.88it/s]
1438it [00:15, 101.74it/s]
1452it [00:15, 110.93it/s]
1464it [00:15, 106.15it/s]
1475it [00:15, 104.85it/s]
1490it [00:15, 113.17it/s]
1504it [00:15, 115.83it/s]
1516it [00:15, 93.95it/s] 
1527it [00:16, 94.17it/s]
1540it [00:16, 101.58it/s]
1553it [00:16, 108.01it/s]
1566it [00:16, 113.58it/s]
1578it [00:16, 111.41it/s]
1590it [00:16, 108.97it/s]
1602it [00:16, 107.51it/s]
1613it [00:16, 104.97it/s]
1625it [00:16, 104.44it/s]
1636it [00:17, 98.44it/s] 
1650it [00:17, 109.14it/s]
1662it [00:17, 100.99it/s]
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1683it [00:17, 95.50it/s]
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1707it [00:17, 105.57it/s]
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1732it [00:18, 110.25it/s]
1744it [00:18, 110.60it/s]
1756it [00:18, 103.27it/s]
1767it [00:18, 102.88it/s]
1778it [00:18, 102.13it/s]
1792it [00:18, 112.12it/s]
1804it [00:18, 110.36it/s]
1816it [00:18, 94.21it/s] 
1826it [00:19, 90.71it/s]
1836it [00:19, 90.02it/s]
1846it [00:19, 91.52it/s]
1856it [00:19, 88.11it/s]
1867it [00:19, 92.09it/s]
1878it [00:19, 96.37it/s]
1892it [00:19, 106.61it/s]
1904it [00:19, 103.41it/s]
1917it [00:19, 107.76it/s]
1928it [00:19, 106.75it/s]
1939it [00:20, 104.45it/s]
1950it [00:20, 97.67it/s] 
1962it [00:20, 102.69it/s]
1973it [00:20, 104.07it/s]
1984it [00:20, 89.25it/s] 
1994it [00:20, 86.72it/s]
2004it [00:20, 88.76it/s]
2014it [00:20, 91.32it/s]
2024it [00:21, 89.10it/s]
2034it [00:21, 88.91it/s]
2044it [00:21, 91.20it/s]
2054it [00:21, 90.82it/s]
2064it [00:21, 88.57it/s]
2073it [00:21, 84.58it/s]
2083it [00:21, 87.58it/s]
2092it [00:21, 87.59it/s]
2101it [00:21, 79.00it/s]
2112it [00:22, 83.91it/s]
2122it [00:22, 87.18it/s]
2133it [00:22, 89.67it/s]
2143it [00:22, 89.89it/s]
2153it [00:22, 83.61it/s]
2163it [00:22, 86.28it/s]
2177it [00:22, 96.29it/s]
2187it [00:22, 96.93it/s]
2202it [00:22, 110.54it/s]
2215it [00:23, 115.75it/s]
2231it [00:23, 127.72it/s]
2247it [00:23, 134.91it/s]
2263it [00:23, 140.30it/s]
2278it [00:23, 138.74it/s]
2292it [00:23, 132.92it/s]
2310it [00:23, 143.82it/s]
2327it [00:23, 150.57it/s]
2346it [00:23, 159.95it/s]
2363it [00:24, 156.14it/s]
2379it [00:24, 144.91it/s]
2394it [00:24, 137.50it/s]
2409it [00:24, 140.70it/s]
2424it [00:24, 122.66it/s]
2437it [00:24, 124.18it/s]
2454it [00:24, 130.83it/s]
2468it [00:24, 120.55it/s]
2481it [00:25, 108.55it/s]
2497it [00:25, 120.06it/s]
2512it [00:25, 126.31it/s]
2526it [00:25, 127.74it/s]
2541it [00:25, 132.50it/s]
2556it [00:25, 134.53it/s]
2570it [00:25, 133.02it/s]
2584it [00:25, 120.07it/s]
2597it [00:25, 113.04it/s]
2613it [00:26, 122.73it/s]
2628it [00:26, 129.72it/s]
2644it [00:26, 137.31it/s]
2658it [00:26, 135.44it/s]
2672it [00:26, 131.91it/s]
2687it [00:26, 134.14it/s]
2701it [00:26, 135.13it/s]
2716it [00:26, 138.10it/s]
2730it [00:26, 134.22it/s]
2745it [00:27, 136.23it/s]
2760it [00:27, 138.52it/s]
2774it [00:27, 133.68it/s]
2788it [00:27, 132.88it/s]
2802it [00:27, 128.48it/s]
2819it [00:27, 139.87it/s]
2834it [00:27, 140.50it/s]
2849it [00:27, 137.22it/s]
2864it [00:27, 138.30it/s]
2878it [00:28, 136.46it/s]
2892it [00:28, 131.76it/s]
2906it [00:28, 133.25it/s]
2921it [00:28, 137.55it/s]
2935it [00:28, 129.94it/s]
2949it [00:28, 129.59it/s]
2964it [00:28, 134.42it/s]
2978it [00:28, 115.83it/s]
2991it [00:28, 113.94it/s]
3004it [00:29, 117.84it/s]
3019it [00:29, 126.20it/s]
3033it [00:29, 128.99it/s]
3047it [00:29, 125.22it/s]
3061it [00:29, 129.29it/s]
3075it [00:29, 130.58it/s]
3091it [00:29, 135.27it/s]
3106it [00:29, 137.13it/s]
3120it [00:29, 132.83it/s]
3134it [00:30, 131.79it/s]
3149it [00:30, 134.67it/s]
3165it [00:30, 139.99it/s]
3180it [00:30, 139.32it/s]
3194it [00:30, 122.86it/s]
3208it [00:30, 126.90it/s]
3225it [00:30, 131.19it/s]
3240it [00:30, 134.47it/s]
3254it [00:30, 125.12it/s]
3268it [00:31, 128.89it/s]
3283it [00:31, 132.78it/s]
3297it [00:31, 128.74it/s]
3312it [00:31, 132.49it/s]
3326it [00:31, 125.92it/s]
3339it [00:31, 110.92it/s]
3351it [00:31, 104.44it/s]
3362it [00:31, 105.45it/s]
3374it [00:32, 107.15it/s]
3385it [00:32, 105.17it/s]
3399it [00:32, 113.42it/s]
3412it [00:32, 116.97it/s]
3424it [00:32, 114.11it/s]
3438it [00:32, 119.77it/s]
3451it [00:32, 117.72it/s]
3463it [00:32, 112.51it/s]
3475it [00:32, 109.88it/s]
3487it [00:33, 107.45it/s]
3498it [00:33, 105.10it/s]
3511it [00:33, 110.85it/s]
3524it [00:33, 115.83it/s]
3536it [00:33, 114.94it/s]
3548it [00:33, 108.70it/s]
3561it [00:33, 114.57it/s]
3575it [00:33, 120.82it/s]
3588it [00:33, 123.30it/s]
3601it [00:34, 108.36it/s]
3613it [00:34, 109.75it/s]
3625it [00:34, 101.25it/s]
3638it [00:34, 106.80it/s]
3649it [00:34, 96.51it/s] 
3662it [00:34, 104.16it/s]
3673it [00:34, 97.79it/s] 
3684it [00:34, 86.05it/s]
3695it [00:35, 91.24it/s]
3705it [00:35, 90.22it/s]
3716it [00:35, 94.91it/s]
3726it [00:35, 95.90it/s]
3738it [00:35, 102.11it/s]
3750it [00:35, 106.52it/s]
3761it [00:35, 105.51it/s]
3772it [00:35, 93.68it/s] 
3782it [00:35, 93.52it/s]
3792it [00:35, 93.99it/s]
3805it [00:36, 102.72it/s]
3816it [00:36, 90.58it/s] 
3826it [00:36, 91.73it/s]
3840it [00:36, 103.36it/s]
3852it [00:36, 106.19it/s]
3863it [00:36, 103.24it/s]
3876it [00:36, 109.98it/s]
3890it [00:36, 117.08it/s]
3902it [00:37, 113.95it/s]
3914it [00:37, 108.33it/s]
3926it [00:37, 107.96it/s]
3937it [00:37, 106.37it/s]
3950it [00:37, 111.68it/s]
3962it [00:37, 101.57it/s]
3974it [00:37, 104.87it/s]
3985it [00:37, 91.86it/s] 
3995it [00:37, 88.60it/s]
4005it [00:38, 86.99it/s]
4018it [00:38, 95.93it/s]
4028it [00:38, 95.32it/s]
4042it [00:38, 105.17it/s]
4053it [00:38, 103.14it/s]
4065it [00:38, 103.75it/s]
4077it [00:38, 102.58it/s]
4088it [00:38, 103.51it/s]
4100it [00:38, 108.05it/s]
4111it [00:39, 95.23it/s] 
4121it [00:39, 91.08it/s]
4131it [00:39, 92.93it/s]
4143it [00:39, 98.18it/s]
4153it [00:39, 94.90it/s]
4163it [00:39, 94.44it/s]
4173it [00:39, 87.71it/s]
4182it [00:39, 85.84it/s]
4194it [00:40, 92.03it/s]
4204it [00:40, 84.36it/s]
4215it [00:40, 89.71it/s]
4227it [00:40, 97.37it/s]
4238it [00:40, 100.46it/s]
4249it [00:40, 99.40it/s] 
4262it [00:40, 102.08it/s]
4273it [00:40, 88.74it/s] 
4284it [00:40, 93.22it/s]
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Track data saved to /working/f2ac966f-9e5a-4f8e-a06c-13643d189a3e/processing/data/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/f2ac966f-9e5a-4f8e-a06c-13643d189a3e/processing/data/laser_aligned.ptd.cbor