=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.9
Input file:  /working/b8143b0e-497d-4a55-9cfe-cc78f037e99d/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 -=-=-=-=-=-=-
2025-12-22T08:09:14 - INFO:  Reading sonar track took 0.06323385238647461 sec!
2025-12-22T08:09:14 - INFO:  Reading sonar alignment track took {0.0004017353057861328} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  0%|          | 1/200 [00:00<00:33,  5.94it/s]
  2%|▏         | 4/200 [00:00<00:13, 14.93it/s]
  4%|▎         | 7/200 [00:00<00:10, 18.40it/s]
  5%|▌         | 10/200 [00:00<00:10, 18.86it/s]
  6%|▋         | 13/200 [00:00<00:09, 20.68it/s]
  8%|▊         | 16/200 [00:00<00:08, 22.20it/s]
 10%|▉         | 19/200 [00:00<00:07, 23.29it/s]
 11%|█         | 22/200 [00:01<00:08, 22.12it/s]
 12%|█▎        | 25/200 [00:01<00:07, 23.90it/s]
 14%|█▍        | 28/200 [00:01<00:06, 25.49it/s]
 16%|█▌        | 31/200 [00:01<00:06, 25.17it/s]
 17%|█▋        | 34/200 [00:01<00:06, 23.85it/s]
 18%|█▊        | 37/200 [00:01<00:06, 25.36it/s]
 20%|██        | 40/200 [00:01<00:06, 26.13it/s]
 22%|██▏       | 43/200 [00:01<00:05, 26.91it/s]
 23%|██▎       | 46/200 [00:02<00:06, 24.34it/s]
 24%|██▍       | 49/200 [00:02<00:05, 25.19it/s]
 26%|██▌       | 52/200 [00:02<00:05, 25.38it/s]
 28%|██▊       | 55/200 [00:02<00:05, 26.19it/s]
 29%|██▉       | 58/200 [00:02<00:05, 25.33it/s]
 30%|███       | 61/200 [00:02<00:05, 25.10it/s]
 32%|███▎      | 65/200 [00:02<00:05, 26.87it/s]
 34%|███▍      | 68/200 [00:02<00:05, 24.85it/s]
 36%|███▌      | 71/200 [00:02<00:04, 26.11it/s]
 37%|███▋      | 74/200 [00:03<00:04, 25.21it/s]
 38%|███▊      | 77/200 [00:03<00:04, 25.38it/s]
 40%|████      | 80/200 [00:03<00:04, 24.45it/s]
 42%|████▏     | 84/200 [00:03<00:04, 26.27it/s]
 44%|████▎     | 87/200 [00:03<00:04, 25.01it/s]
 45%|████▌     | 90/200 [00:03<00:04, 24.16it/s]
 46%|████▋     | 93/200 [00:03<00:04, 25.10it/s]
 48%|████▊     | 96/200 [00:03<00:04, 24.18it/s]
 50%|████▉     | 99/200 [00:04<00:04, 23.78it/s]
 51%|█████     | 102/200 [00:04<00:04, 22.07it/s]
 52%|█████▎    | 105/200 [00:04<00:04, 21.08it/s]
 54%|█████▍    | 108/200 [00:04<00:04, 21.90it/s]
 56%|█████▌    | 111/200 [00:04<00:03, 22.47it/s]
 57%|█████▋    | 114/200 [00:04<00:03, 22.86it/s]
 58%|█████▊    | 117/200 [00:04<00:03, 22.70it/s]
 60%|██████    | 120/200 [00:05<00:03, 23.35it/s]
 62%|██████▏   | 123/200 [00:05<00:03, 24.10it/s]
 64%|██████▎   | 127/200 [00:05<00:02, 26.20it/s]
 66%|██████▌   | 131/200 [00:05<00:02, 27.25it/s]
 67%|██████▋   | 134/200 [00:05<00:02, 25.84it/s]
 69%|██████▉   | 138/200 [00:05<00:02, 26.16it/s]
 70%|███████   | 141/200 [00:05<00:02, 25.45it/s]
 72%|███████▏  | 144/200 [00:05<00:02, 25.27it/s]
 74%|███████▎  | 147/200 [00:06<00:02, 25.33it/s]
 75%|███████▌  | 150/200 [00:06<00:02, 24.20it/s]
 76%|███████▋  | 153/200 [00:06<00:01, 25.39it/s]
 78%|███████▊  | 156/200 [00:06<00:01, 23.88it/s]
 80%|███████▉  | 159/200 [00:06<00:01, 23.78it/s]
 81%|████████  | 162/200 [00:06<00:01, 23.95it/s]
 82%|████████▎ | 165/200 [00:06<00:01, 24.18it/s]
 84%|████████▍ | 168/200 [00:07<00:01, 22.72it/s]
 86%|████████▌ | 171/200 [00:07<00:01, 24.48it/s]
 87%|████████▋ | 174/200 [00:07<00:01, 22.93it/s]
 88%|████████▊ | 177/200 [00:07<00:00, 23.17it/s]
 90%|█████████ | 180/200 [00:07<00:00, 22.96it/s]
 92%|█████████▏| 183/200 [00:07<00:00, 24.02it/s]
 94%|█████████▎| 187/200 [00:07<00:00, 26.04it/s]
 95%|█████████▌| 190/200 [00:07<00:00, 24.49it/s]
 96%|█████████▋| 193/200 [00:08<00:00, 24.97it/s]
 98%|█████████▊| 196/200 [00:08<00:00, 25.93it/s]
100%|█████████▉| 199/200 [00:08<00:00, 26.68it/s]
100%|██████████| 200/200 [00:08<00:00, 24.20it/s]
 Median Scale of 200 frame found to be: 0.8545949039100689
 Fit to reference shape: 

0it [00:00, ?it/s]
4it [00:00, 29.81it/s]
8it [00:00, 31.95it/s]
12it [00:00, 24.86it/s]
18it [00:00, 33.87it/s]
25it [00:00, 43.11it/s]
31it [00:00, 47.75it/s]
38it [00:00, 52.95it/s]
47it [00:00, 62.39it/s]
60it [00:01, 80.87it/s]
72it [00:01, 92.09it/s]
84it [00:01, 97.78it/s]
97it [00:01, 106.55it/s]
109it [00:01, 107.94it/s]
120it [00:01, 106.18it/s]
133it [00:01, 112.47it/s]
146it [00:01, 116.97it/s]
159it [00:01, 120.33it/s]
172it [00:02, 118.10it/s]
184it [00:02, 118.19it/s]
197it [00:02, 121.48it/s]
210it [00:02, 122.63it/s]
223it [00:02, 122.57it/s]
236it [00:02, 123.50it/s]
249it [00:02, 123.40it/s]
262it [00:02, 118.45it/s]
274it [00:02, 115.80it/s]
286it [00:02, 116.86it/s]
298it [00:03, 115.78it/s]
310it [00:03, 106.43it/s]
323it [00:03, 110.88it/s]
335it [00:03, 109.69it/s]
348it [00:03, 113.01it/s]
360it [00:03, 113.46it/s]
372it [00:03, 114.67it/s]
384it [00:03, 114.83it/s]
397it [00:03, 116.30it/s]
409it [00:04, 111.89it/s]
422it [00:04, 114.34it/s]
434it [00:04, 110.96it/s]
446it [00:04, 107.13it/s]
457it [00:04, 104.16it/s]
468it [00:04, 105.73it/s]
480it [00:04, 108.61it/s]
494it [00:04, 116.03it/s]
506it [00:04, 106.94it/s]
517it [00:05, 102.81it/s]
528it [00:05, 99.68it/s] 
541it [00:05, 106.24it/s]
553it [00:05, 109.55it/s]
566it [00:05, 113.06it/s]
578it [00:05, 113.56it/s]
590it [00:05, 110.12it/s]
602it [00:05, 106.58it/s]
615it [00:05, 112.40it/s]
627it [00:06, 112.55it/s]
639it [00:06, 111.33it/s]
653it [00:06, 117.29it/s]
667it [00:06, 123.56it/s]
680it [00:06, 118.78it/s]
693it [00:06, 120.93it/s]
706it [00:06, 122.22it/s]
720it [00:06, 125.29it/s]
733it [00:06, 124.10it/s]
746it [00:07, 116.13it/s]
759it [00:07, 116.97it/s]
771it [00:07, 108.30it/s]
782it [00:07, 108.48it/s]
795it [00:07, 111.18it/s]
807it [00:07, 112.91it/s]
819it [00:07, 111.57it/s]
832it [00:07, 114.29it/s]
845it [00:07, 117.16it/s]
858it [00:08, 120.11it/s]
872it [00:08, 124.36it/s]
886it [00:08, 126.66it/s]
899it [00:08, 121.46it/s]
912it [00:08, 121.95it/s]
925it [00:08, 119.34it/s]
937it [00:08, 116.62it/s]
949it [00:08, 115.08it/s]
962it [00:08, 117.63it/s]
975it [00:09, 119.58it/s]
989it [00:09, 123.21it/s]
1002it [00:09, 122.45it/s]
1016it [00:09, 126.20it/s]
1030it [00:09, 127.96it/s]
1044it [00:09, 130.69it/s]
1058it [00:09, 125.81it/s]
1071it [00:09, 125.91it/s]
1084it [00:09, 125.44it/s]
1097it [00:09, 124.82it/s]
1111it [00:10, 126.37it/s]
1124it [00:10, 124.56it/s]
1137it [00:10, 122.68it/s]
1150it [00:10, 115.86it/s]
1162it [00:10, 115.05it/s]
1175it [00:10, 117.09it/s]
1187it [00:10, 114.98it/s]
1199it [00:10, 110.52it/s]
1212it [00:10, 114.43it/s]
1225it [00:11, 116.38it/s]
1239it [00:11, 120.05it/s]
1252it [00:11, 117.12it/s]
1265it [00:11, 120.37it/s]
1279it [00:11, 125.52it/s]
1292it [00:11, 126.08it/s]
1306it [00:11, 129.40it/s]
1320it [00:11, 131.86it/s]
1334it [00:11, 122.44it/s]
1347it [00:12, 117.12it/s]
1359it [00:12, 117.67it/s]
1375it [00:12, 124.93it/s]
1389it [00:12, 127.68it/s]
1402it [00:12, 119.93it/s]
1415it [00:12, 115.53it/s]
1427it [00:12, 116.39it/s]
1439it [00:12, 111.56it/s]
1452it [00:12, 115.54it/s]
1464it [00:13, 115.42it/s]
1478it [00:13, 119.90it/s]
1491it [00:13, 122.10it/s]
1505it [00:13, 126.19it/s]
1518it [00:13, 125.00it/s]
1531it [00:13, 126.38it/s]
1544it [00:13, 125.47it/s]
1557it [00:13, 115.31it/s]
1571it [00:13, 119.90it/s]
1584it [00:14, 121.87it/s]
1598it [00:14, 126.99it/s]
1611it [00:14, 126.18it/s]
1625it [00:14, 129.00it/s]
1641it [00:14, 135.47it/s]
1656it [00:14, 137.20it/s]
1670it [00:14, 133.08it/s]
1684it [00:14, 127.75it/s]
1699it [00:14, 132.49it/s]
1713it [00:15, 132.94it/s]
1727it [00:15, 128.48it/s]
1740it [00:15, 118.47it/s]
1755it [00:15, 124.85it/s]
1768it [00:15, 118.24it/s]
1782it [00:15, 122.53it/s]
1795it [00:15, 122.07it/s]
1808it [00:15, 116.33it/s]
1821it [00:15, 119.46it/s]
1835it [00:16, 124.64it/s]
1848it [00:16, 125.80it/s]
1861it [00:16, 122.43it/s]
1874it [00:16, 122.87it/s]
1887it [00:16, 120.29it/s]
1900it [00:16, 118.94it/s]
1914it [00:16, 124.27it/s]
1928it [00:16, 128.04it/s]
1941it [00:16, 114.69it/s]
1953it [00:17, 103.90it/s]
1967it [00:17, 111.33it/s]
1980it [00:17, 115.18it/s]
1992it [00:17, 111.52it/s]
2004it [00:17, 109.88it/s]
2018it [00:17, 116.96it/s]
2031it [00:17, 119.42it/s]
2044it [00:17, 118.36it/s]
2057it [00:17, 120.49it/s]
2070it [00:18, 116.07it/s]
2082it [00:18, 113.01it/s]
2094it [00:18, 114.04it/s]
2106it [00:18, 110.80it/s]
2118it [00:18, 112.89it/s]
2130it [00:18, 112.68it/s]
2143it [00:18, 115.18it/s]
2156it [00:18, 117.18it/s]
2168it [00:18, 115.56it/s]
2180it [00:19, 108.86it/s]
2194it [00:19, 116.25it/s]
2207it [00:19, 117.61it/s]
2219it [00:19, 115.93it/s]
2232it [00:19, 118.55it/s]
2245it [00:19, 119.67it/s]
2260it [00:19, 125.58it/s]
2273it [00:19, 119.92it/s]
2286it [00:19, 115.93it/s]
2299it [00:20, 117.67it/s]
2311it [00:20, 118.25it/s]
2323it [00:20, 118.48it/s]
2335it [00:20, 118.49it/s]
2347it [00:20, 118.07it/s]
2359it [00:20, 111.11it/s]
2371it [00:20, 110.84it/s]
2384it [00:20, 114.88it/s]
2396it [00:20, 114.27it/s]
2408it [00:20, 111.88it/s]
2420it [00:21, 110.09it/s]
2432it [00:21, 110.93it/s]
2444it [00:21, 108.26it/s]
2457it [00:21, 113.19it/s]
2469it [00:21, 114.91it/s]
2483it [00:21, 121.54it/s]
2496it [00:21, 121.43it/s]
2509it [00:21, 115.00it/s]
2521it [00:21, 113.48it/s]
2535it [00:22, 120.14it/s]
2548it [00:22, 116.00it/s]
2560it [00:22, 114.12it/s]
2575it [00:22, 122.48it/s]
2588it [00:22, 117.39it/s]
2600it [00:22, 111.71it/s]
2613it [00:22, 116.14it/s]
2625it [00:22, 114.50it/s]
2637it [00:22, 114.30it/s]
2651it [00:23, 119.07it/s]
2663it [00:23, 119.12it/s]
2677it [00:23, 122.85it/s]
2691it [00:23, 125.55it/s]
2704it [00:23, 121.55it/s]
2717it [00:23, 121.09it/s]
2730it [00:23, 122.82it/s]
2743it [00:23, 117.06it/s]
2756it [00:23, 119.91it/s]
2769it [00:24, 117.06it/s]
2783it [00:24, 122.18it/s]
2796it [00:24, 123.68it/s]
2809it [00:24, 116.66it/s]
2821it [00:24, 116.05it/s]
2833it [00:24, 116.69it/s]
2847it [00:24, 122.95it/s]
2860it [00:24, 110.19it/s]
2873it [00:24, 114.69it/s]
2886it [00:25, 113.26it/s]
2899it [00:25, 116.10it/s]
2911it [00:25, 116.35it/s]
2923it [00:25, 112.62it/s]
2935it [00:25, 112.44it/s]
2947it [00:25, 111.84it/s]
2960it [00:25, 114.88it/s]
2972it [00:25, 112.25it/s]
2984it [00:25, 110.96it/s]
2996it [00:26, 109.56it/s]
3008it [00:26, 112.28it/s]
3021it [00:26, 117.01it/s]
3033it [00:26, 110.76it/s]
3046it [00:26, 113.54it/s]
3058it [00:26, 114.87it/s]
3070it [00:26, 114.95it/s]
3082it [00:26, 108.35it/s]
3094it [00:26, 111.38it/s]
3106it [00:27, 111.51it/s]
3118it [00:27, 112.71it/s]
3130it [00:27, 114.45it/s]
3142it [00:27, 109.65it/s]
3154it [00:27, 112.24it/s]
3166it [00:27, 112.82it/s]
3178it [00:27, 106.36it/s]
3192it [00:27, 115.37it/s]
3204it [00:27, 116.39it/s]
3216it [00:27, 112.09it/s]
3229it [00:28, 115.27it/s]
3241it [00:28, 115.39it/s]
3254it [00:28, 119.24it/s]
3267it [00:28, 120.53it/s]
3280it [00:28, 117.67it/s]
3293it [00:28, 119.89it/s]
3306it [00:28, 121.50it/s]
3320it [00:28, 125.66it/s]
3333it [00:28, 126.55it/s]
3346it [00:29, 127.36it/s]
3359it [00:29, 126.72it/s]
3372it [00:29, 127.14it/s]
3385it [00:29, 121.77it/s]
3398it [00:29, 121.80it/s]
3411it [00:29, 121.50it/s]
3424it [00:29, 121.85it/s]
3437it [00:29, 122.33it/s]
3450it [00:29, 122.04it/s]
3463it [00:30, 113.45it/s]
3476it [00:30, 117.27it/s]
3490it [00:30, 122.41it/s]
3504it [00:30, 126.59it/s]
3517it [00:30, 118.27it/s]
3531it [00:30, 121.30it/s]
3544it [00:30, 111.61it/s]
3556it [00:30, 111.16it/s]
3568it [00:30, 110.88it/s]
3580it [00:31, 106.53it/s]
3594it [00:31, 109.91it/s]
3606it [00:31, 112.44it/s]
3619it [00:31, 115.51it/s]
3631it [00:31, 114.60it/s]
3643it [00:31, 113.87it/s]
3655it [00:31, 109.52it/s]
3667it [00:31, 109.18it/s]
3678it [00:31, 108.22it/s]
3689it [00:32, 104.28it/s]
3702it [00:32, 109.31it/s]
3713it [00:32, 108.33it/s]
3726it [00:32, 114.07it/s]
3738it [00:32, 115.63it/s]
3750it [00:32, 113.53it/s]
3764it [00:32, 118.97it/s]
3778it [00:32, 123.10it/s]
3791it [00:32, 121.42it/s]
3804it [00:32, 120.91it/s]
3817it [00:33, 115.29it/s]
3829it [00:33, 112.66it/s]
3841it [00:33, 111.25it/s]
3853it [00:33, 113.61it/s]
3867it [00:33, 119.11it/s]
3882it [00:33, 127.55it/s]
3895it [00:33, 117.13it/s]
3907it [00:33, 117.13it/s]
3919it [00:34, 111.87it/s]
3931it [00:34, 113.68it/s]
3943it [00:34, 114.66it/s]
3956it [00:34, 118.32it/s]
3968it [00:34, 114.16it/s]
3981it [00:34, 115.91it/s]
3993it [00:34, 112.19it/s]
4005it [00:34, 108.83it/s]
4019it [00:34, 114.56it/s]
4031it [00:34, 111.39it/s]
4043it [00:35, 113.56it/s]
4055it [00:35, 115.09it/s]
4067it [00:35, 112.83it/s]
4079it [00:35, 112.73it/s]
4091it [00:35, 113.84it/s]
4103it [00:35, 112.97it/s]
4115it [00:35, 110.53it/s]
4128it [00:35, 114.72it/s]
4141it [00:35, 116.41it/s]
4155it [00:36, 116.52it/s]
4167it [00:36, 113.45it/s]
4180it [00:36, 112.43it/s]
4192it [00:36, 111.59it/s]
4204it [00:36, 102.34it/s]
4216it [00:36, 105.41it/s]
4228it [00:36, 109.16it/s]
4240it [00:36, 102.74it/s]
4253it [00:36, 107.89it/s]
4265it [00:37, 110.94it/s]
4277it [00:37, 111.36it/s]
4290it [00:37, 115.90it/s]
4302it [00:37, 114.56it/s]
4314it [00:37, 115.91it/s]
4328it [00:37, 117.00it/s]
4341it [00:37, 117.64it/s]
4354it [00:37, 119.60it/s]
4366it [00:37, 115.04it/s]
4378it [00:38, 114.88it/s]
4391it [00:38, 114.90it/s]
4403it [00:38, 114.28it/s]
4415it [00:38, 115.71it/s]
4427it [00:38, 112.97it/s]
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4706it [00:40, 111.63it/s]
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Track data saved to /working/b8143b0e-497d-4a55-9cfe-cc78f037e99d/processing/data/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/b8143b0e-497d-4a55-9cfe-cc78f037e99d/processing/data/laser_aligned.ptd.cbor