=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.9
Input file:  /working/989dbafa-4bca-4fd7-ac36-445a5f8bf95f/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 -=-=-=-=-=-=-
2025-12-22T08:09:54 - INFO:  Reading sonar track took 0.10373115539550781 sec!
2025-12-22T08:09:54 - INFO:  Reading sonar alignment track took {0.0005924701690673828} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  2%|▏         | 4/200 [00:00<00:06, 29.57it/s]
  4%|▎         | 7/200 [00:00<00:07, 26.23it/s]
  5%|▌         | 10/200 [00:00<00:07, 25.34it/s]
  6%|▋         | 13/200 [00:00<00:07, 25.21it/s]
  8%|▊         | 16/200 [00:00<00:08, 21.91it/s]
 10%|▉         | 19/200 [00:00<00:07, 22.94it/s]
 11%|█         | 22/200 [00:00<00:07, 24.23it/s]
 12%|█▎        | 25/200 [00:01<00:07, 22.75it/s]
 14%|█▍        | 28/200 [00:01<00:07, 23.69it/s]
 16%|█▌        | 31/200 [00:01<00:07, 22.29it/s]
 17%|█▋        | 34/200 [00:01<00:07, 22.18it/s]
 19%|█▉        | 38/200 [00:01<00:06, 24.32it/s]
 20%|██        | 41/200 [00:01<00:06, 23.40it/s]
 22%|██▏       | 44/200 [00:01<00:06, 23.58it/s]
 24%|██▎       | 47/200 [00:01<00:06, 24.71it/s]
 25%|██▌       | 50/200 [00:02<00:05, 25.41it/s]
 26%|██▋       | 53/200 [00:02<00:06, 23.78it/s]
 28%|██▊       | 57/200 [00:02<00:05, 25.97it/s]
 30%|███       | 60/200 [00:02<00:05, 24.62it/s]
 32%|███▏      | 63/200 [00:02<00:05, 24.68it/s]
 34%|███▎      | 67/200 [00:02<00:05, 26.12it/s]
 35%|███▌      | 70/200 [00:02<00:05, 25.28it/s]
 36%|███▋      | 73/200 [00:03<00:05, 23.55it/s]
 38%|███▊      | 76/200 [00:03<00:05, 24.51it/s]
 40%|███▉      | 79/200 [00:03<00:05, 24.08it/s]
 41%|████      | 82/200 [00:03<00:04, 24.78it/s]
 42%|████▎     | 85/200 [00:03<00:04, 25.39it/s]
 44%|████▍     | 89/200 [00:03<00:04, 24.58it/s]
 46%|████▌     | 92/200 [00:03<00:04, 25.84it/s]
 48%|████▊     | 95/200 [00:03<00:03, 26.53it/s]
 49%|████▉     | 98/200 [00:03<00:03, 26.99it/s]
 51%|█████     | 102/200 [00:04<00:03, 27.59it/s]
 52%|█████▎    | 105/200 [00:04<00:03, 28.05it/s]
 54%|█████▍    | 108/200 [00:04<00:03, 26.95it/s]
 56%|█████▌    | 112/200 [00:04<00:03, 28.42it/s]
 57%|█████▊    | 115/200 [00:04<00:03, 27.72it/s]
 59%|█████▉    | 118/200 [00:04<00:03, 26.45it/s]
 60%|██████    | 121/200 [00:04<00:03, 25.45it/s]
 62%|██████▏   | 124/200 [00:04<00:03, 25.09it/s]
 64%|██████▎   | 127/200 [00:05<00:03, 23.50it/s]
 65%|██████▌   | 130/200 [00:05<00:03, 23.13it/s]
 67%|██████▋   | 134/200 [00:05<00:02, 25.53it/s]
 68%|██████▊   | 137/200 [00:05<00:02, 26.51it/s]
 70%|███████   | 140/200 [00:05<00:02, 26.27it/s]
 72%|███████▏  | 143/200 [00:05<00:02, 24.62it/s]
 73%|███████▎  | 146/200 [00:05<00:02, 25.02it/s]
 74%|███████▍  | 149/200 [00:05<00:02, 24.25it/s]
 76%|███████▌  | 152/200 [00:06<00:02, 23.59it/s]
 78%|███████▊  | 156/200 [00:06<00:01, 26.23it/s]
 80%|███████▉  | 159/200 [00:06<00:01, 26.09it/s]
 81%|████████  | 162/200 [00:06<00:01, 26.78it/s]
 82%|████████▎ | 165/200 [00:06<00:01, 25.75it/s]
 84%|████████▍ | 169/200 [00:06<00:01, 27.32it/s]
 86%|████████▌ | 172/200 [00:06<00:01, 27.03it/s]
 88%|████████▊ | 175/200 [00:06<00:00, 26.90it/s]
 89%|████████▉ | 178/200 [00:07<00:00, 24.12it/s]
 90%|█████████ | 181/200 [00:07<00:00, 23.61it/s]
 92%|█████████▎| 185/200 [00:07<00:00, 25.58it/s]
 94%|█████████▍| 188/200 [00:07<00:00, 24.29it/s]
 96%|█████████▌| 191/200 [00:07<00:00, 22.64it/s]
 97%|█████████▋| 194/200 [00:07<00:00, 21.76it/s]
 98%|█████████▊| 197/200 [00:07<00:00, 20.22it/s]
100%|██████████| 200/200 [00:08<00:00, 20.90it/s]
100%|██████████| 200/200 [00:08<00:00, 24.65it/s]
 Median Scale of 200 frame found to be: 0.855216484637624
 Fit to reference shape: 

0it [00:00, ?it/s]
8it [00:00, 71.41it/s]
16it [00:00, 72.22it/s]
24it [00:00, 62.36it/s]
32it [00:00, 64.06it/s]
41it [00:00, 70.43it/s]
53it [00:00, 84.05it/s]
65it [00:00, 94.38it/s]
77it [00:00, 101.50it/s]
91it [00:01, 112.23it/s]
103it [00:01, 109.19it/s]
115it [00:01, 111.43it/s]
127it [00:01, 108.57it/s]
138it [00:01, 108.49it/s]
152it [00:01, 115.61it/s]
165it [00:01, 119.74it/s]
178it [00:01, 111.97it/s]
192it [00:01, 118.66it/s]
206it [00:01, 123.57it/s]
219it [00:02, 123.52it/s]
232it [00:02, 121.18it/s]
246it [00:02, 124.63it/s]
259it [00:02, 118.77it/s]
271it [00:02, 118.13it/s]
283it [00:02, 114.93it/s]
295it [00:02, 112.05it/s]
307it [00:02, 112.49it/s]
319it [00:02, 111.56it/s]
332it [00:03, 115.56it/s]
347it [00:03, 123.97it/s]
360it [00:03, 120.64it/s]
375it [00:03, 127.16it/s]
388it [00:03, 121.56it/s]
402it [00:03, 125.50it/s]
418it [00:03, 134.19it/s]
433it [00:03, 137.09it/s]
447it [00:03, 132.21it/s]
461it [00:04, 130.80it/s]
475it [00:04, 129.98it/s]
489it [00:04, 124.91it/s]
502it [00:04, 126.20it/s]
515it [00:04, 122.39it/s]
528it [00:04, 112.77it/s]
540it [00:04, 106.84it/s]
551it [00:04, 104.32it/s]
562it [00:04, 105.70it/s]
575it [00:05, 110.23it/s]
587it [00:05, 107.10it/s]
600it [00:05, 110.76it/s]
612it [00:05, 111.72it/s]
625it [00:05, 114.15it/s]
637it [00:05, 112.95it/s]
649it [00:05, 114.39it/s]
661it [00:05, 115.45it/s]
674it [00:05, 118.96it/s]
687it [00:06, 121.02it/s]
700it [00:06, 120.00it/s]
713it [00:06, 121.92it/s]
727it [00:06, 125.03it/s]
742it [00:06, 130.94it/s]
757it [00:06, 133.42it/s]
771it [00:06, 122.07it/s]
784it [00:06, 120.72it/s]
797it [00:06, 122.14it/s]
810it [00:07, 121.46it/s]
823it [00:07, 122.79it/s]
837it [00:07, 127.42it/s]
850it [00:07, 121.41it/s]
863it [00:07, 120.61it/s]
878it [00:07, 128.29it/s]
892it [00:07, 129.33it/s]
907it [00:07, 134.57it/s]
921it [00:07, 124.03it/s]
934it [00:08, 125.50it/s]
947it [00:08, 125.38it/s]
962it [00:08, 130.22it/s]
976it [00:08, 124.84it/s]
989it [00:08, 122.29it/s]
1002it [00:08, 120.17it/s]
1016it [00:08, 124.10it/s]
1029it [00:08, 115.07it/s]
1041it [00:08, 113.61it/s]
1054it [00:09, 115.28it/s]
1066it [00:09, 112.55it/s]
1080it [00:09, 118.32it/s]
1093it [00:09, 120.24it/s]
1106it [00:09, 119.34it/s]
1120it [00:09, 123.25it/s]
1133it [00:09, 123.04it/s]
1146it [00:09, 124.81it/s]
1159it [00:09, 122.73it/s]
1173it [00:09, 127.26it/s]
1187it [00:10, 128.34it/s]
1200it [00:10, 127.84it/s]
1213it [00:10, 116.90it/s]
1226it [00:10, 118.76it/s]
1239it [00:10, 120.16it/s]
1252it [00:10, 119.54it/s]
1265it [00:10, 117.50it/s]
1277it [00:10, 117.29it/s]
1289it [00:10, 116.54it/s]
1301it [00:11, 116.19it/s]
1316it [00:11, 124.77it/s]
1331it [00:11, 131.74it/s]
1345it [00:11, 119.08it/s]
1358it [00:11, 120.24it/s]
1372it [00:11, 125.32it/s]
1385it [00:11, 124.35it/s]
1398it [00:11, 117.16it/s]
1410it [00:11, 115.77it/s]
1422it [00:12, 109.35it/s]
1435it [00:12, 112.53it/s]
1448it [00:12, 111.09it/s]
1460it [00:12, 111.17it/s]
1473it [00:12, 115.42it/s]
1486it [00:12, 117.29it/s]
1498it [00:12, 113.84it/s]
1511it [00:12, 116.18it/s]
1523it [00:12, 108.31it/s]
1534it [00:13, 105.29it/s]
1547it [00:13, 108.95it/s]
1558it [00:13, 107.69it/s]
1570it [00:13, 108.25it/s]
1582it [00:13, 110.94it/s]
1594it [00:13, 104.23it/s]
1607it [00:13, 108.67it/s]
1618it [00:13, 104.09it/s]
1631it [00:13, 111.01it/s]
1645it [00:14, 117.95it/s]
1659it [00:14, 122.40it/s]
1674it [00:14, 128.46it/s]
1687it [00:14, 116.78it/s]
1699it [00:14, 117.53it/s]
1712it [00:14, 119.26it/s]
1725it [00:14, 115.01it/s]
1738it [00:14, 118.94it/s]
1751it [00:14, 120.55it/s]
1764it [00:15, 120.01it/s]
1777it [00:15, 117.86it/s]
1790it [00:15, 119.20it/s]
1802it [00:15, 117.31it/s]
1816it [00:15, 117.91it/s]
1828it [00:15, 117.19it/s]
1840it [00:15, 115.67it/s]
1852it [00:15, 112.47it/s]
1864it [00:15, 113.82it/s]
1877it [00:16, 117.50it/s]
1893it [00:16, 128.72it/s]
1908it [00:16, 134.58it/s]
1922it [00:16, 134.75it/s]
1936it [00:16, 133.97it/s]
1950it [00:16, 127.34it/s]
1963it [00:16, 124.85it/s]
1976it [00:16, 124.56it/s]
1990it [00:16, 127.30it/s]
2003it [00:17, 125.20it/s]
2016it [00:17, 117.57it/s]
2028it [00:17, 117.99it/s]
2042it [00:17, 123.52it/s]
2055it [00:17, 114.78it/s]
2067it [00:17, 112.32it/s]
2079it [00:17, 110.97it/s]
2092it [00:17, 112.79it/s]
2105it [00:17, 115.51it/s]
2117it [00:18, 114.38it/s]
2129it [00:18, 113.72it/s]
2143it [00:18, 118.09it/s]
2155it [00:18, 115.25it/s]
2170it [00:18, 118.18it/s]
2182it [00:18, 117.06it/s]
2194it [00:18, 117.05it/s]
2208it [00:18, 122.72it/s]
2221it [00:18, 121.33it/s]
2234it [00:19, 122.67it/s]
2247it [00:19, 119.13it/s]
2261it [00:19, 123.34it/s]
2274it [00:19, 123.84it/s]
2287it [00:19, 122.36it/s]
2300it [00:19, 124.50it/s]
2313it [00:19, 120.28it/s]
2326it [00:19, 112.88it/s]
2338it [00:19, 106.61it/s]
2349it [00:20, 107.11it/s]
2363it [00:20, 115.13it/s]
2375it [00:20, 103.55it/s]
2386it [00:20, 102.24it/s]
2399it [00:20, 107.14it/s]
2412it [00:20, 111.06it/s]
2427it [00:20, 121.13it/s]
2441it [00:20, 125.64it/s]
2454it [00:20, 118.93it/s]
2467it [00:21, 119.08it/s]
2480it [00:21, 117.39it/s]
2493it [00:21, 120.25it/s]
2507it [00:21, 122.84it/s]
2520it [00:21, 122.19it/s]
2533it [00:21, 119.72it/s]
2546it [00:21, 122.60it/s]
2559it [00:21, 122.12it/s]
2572it [00:21, 124.36it/s]
2585it [00:22, 117.16it/s]
2597it [00:22, 116.31it/s]
2611it [00:22, 121.56it/s]
2624it [00:22, 120.60it/s]
2637it [00:22, 120.65it/s]
2650it [00:22, 116.74it/s]
2664it [00:22, 121.01it/s]
2677it [00:22, 120.63it/s]
2690it [00:22, 113.61it/s]
2702it [00:23, 110.34it/s]
2714it [00:23, 108.42it/s]
2726it [00:23, 109.97it/s]
2739it [00:23, 115.10it/s]
2751it [00:23, 113.00it/s]
2763it [00:23, 108.48it/s]
2774it [00:23, 102.86it/s]
2786it [00:23, 105.58it/s]
2797it [00:23, 101.44it/s]
2810it [00:24, 106.99it/s]
2823it [00:24, 113.08it/s]
2835it [00:24, 113.51it/s]
2847it [00:24, 114.70it/s]
2861it [00:24, 120.69it/s]
2875it [00:24, 122.55it/s]
2888it [00:24, 116.47it/s]
2900it [00:24, 114.01it/s]
2914it [00:24, 119.53it/s]
2927it [00:24, 119.39it/s]
2939it [00:25, 113.68it/s]
2952it [00:25, 115.36it/s]
2965it [00:25, 118.04it/s]
2977it [00:25, 115.06it/s]
2989it [00:25, 113.94it/s]
3001it [00:25, 111.01it/s]
3013it [00:25, 111.85it/s]
3027it [00:25, 118.11it/s]
3040it [00:25, 120.20it/s]
3053it [00:26, 115.06it/s]
3065it [00:26, 105.89it/s]
3076it [00:26, 104.72it/s]
3087it [00:26, 102.88it/s]
3098it [00:26, 100.98it/s]
3109it [00:26, 102.91it/s]
3121it [00:26, 107.30it/s]
3135it [00:26, 115.17it/s]
3148it [00:26, 118.10it/s]
3162it [00:27, 122.78it/s]
3175it [00:27, 118.55it/s]
3187it [00:27, 118.78it/s]
3199it [00:27, 118.30it/s]
3212it [00:27, 119.10it/s]
3227it [00:27, 125.03it/s]
3240it [00:27, 116.98it/s]
3252it [00:27, 111.87it/s]
3264it [00:27, 113.33it/s]
3276it [00:28, 109.95it/s]
3288it [00:28, 105.87it/s]
3299it [00:28, 98.96it/s] 
3311it [00:28, 103.04it/s]
3324it [00:28, 109.92it/s]
3336it [00:28, 112.44it/s]
3349it [00:28, 116.77it/s]
3361it [00:28, 108.39it/s]
3375it [00:28, 116.49it/s]
3388it [00:29, 119.42it/s]
3401it [00:29, 119.51it/s]
3414it [00:29, 114.63it/s]
3426it [00:29, 113.55it/s]
3438it [00:29, 107.28it/s]
3449it [00:29, 106.56it/s]
3460it [00:29, 106.41it/s]
3473it [00:29, 111.12it/s]
3485it [00:29, 113.37it/s]
3497it [00:30, 108.00it/s]
3510it [00:30, 111.73it/s]
3522it [00:30, 112.65it/s]
3536it [00:30, 119.37it/s]
3548it [00:30, 118.50it/s]
3560it [00:30, 117.60it/s]
3572it [00:30, 113.61it/s]
3584it [00:30, 114.82it/s]
3596it [00:30, 112.29it/s]
3608it [00:31, 110.14it/s]
3620it [00:31, 110.93it/s]
3632it [00:31, 113.09it/s]
3644it [00:31, 108.24it/s]
3655it [00:31, 106.96it/s]
3666it [00:31, 103.17it/s]
3678it [00:31, 107.01it/s]
3690it [00:31, 109.06it/s]
3702it [00:31, 110.33it/s]
3714it [00:32, 104.59it/s]
3725it [00:32, 104.45it/s]
3739it [00:32, 112.23it/s]
3751it [00:32, 111.73it/s]
3763it [00:32, 112.88it/s]
3776it [00:32, 114.99it/s]
3788it [00:32, 108.67it/s]
3799it [00:32, 108.26it/s]
3811it [00:32, 111.00it/s]
3824it [00:33, 116.28it/s]
3838it [00:33, 122.83it/s]
3851it [00:33, 120.55it/s]
3865it [00:33, 123.07it/s]
3880it [00:33, 129.40it/s]
3894it [00:33, 130.27it/s]
3908it [00:33, 127.20it/s]
3921it [00:33, 126.78it/s]
3934it [00:33, 126.06it/s]
3948it [00:33, 128.07it/s]
3961it [00:34, 122.10it/s]
3974it [00:34, 119.88it/s]
3987it [00:34, 114.81it/s]
4000it [00:34, 117.46it/s]
4012it [00:34, 115.36it/s]
4024it [00:34, 115.46it/s]
4036it [00:34, 114.25it/s]
4048it [00:34, 110.94it/s]
4062it [00:34, 118.38it/s]
4075it [00:35, 120.97it/s]
4088it [00:35, 118.26it/s]
4100it [00:35, 114.32it/s]
4113it [00:35, 116.96it/s]
4126it [00:35, 118.49it/s]
4139it [00:35, 119.53it/s]
4151it [00:35, 111.07it/s]
4163it [00:35, 109.11it/s]
4176it [00:35, 114.06it/s]
4188it [00:36, 110.66it/s]
4200it [00:36, 112.11it/s]
4212it [00:36, 113.86it/s]
4224it [00:36, 112.59it/s]
4237it [00:36, 114.69it/s]
4249it [00:36, 115.19it/s]
4261it [00:36, 112.46it/s]
4273it [00:36, 109.53it/s]
4284it [00:36, 107.66it/s]
4297it [00:37, 110.18it/s]
4310it [00:37, 114.72it/s]
4322it [00:37, 113.55it/s]
4334it [00:37, 109.79it/s]
4346it [00:37, 112.17it/s]
4360it [00:37, 117.38it/s]
4374it [00:37, 122.07it/s]
4387it [00:37, 117.08it/s]
4400it [00:37, 118.62it/s]
4412it [00:38, 117.91it/s]
4426it [00:38, 122.45it/s]
4440it [00:38, 126.12it/s]
4453it [00:38, 120.98it/s]
4466it [00:38, 121.09it/s]
4480it [00:38, 126.30it/s]
4494it [00:38, 129.32it/s]
4507it [00:38, 124.90it/s]
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Track data saved to /working/989dbafa-4bca-4fd7-ac36-445a5f8bf95f/processing/data/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/989dbafa-4bca-4fd7-ac36-445a5f8bf95f/processing/data/laser_aligned.ptd.cbor