=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.9
Input file:  /working/157af8c3-a509-45cb-9348-95d6e2b1dfdc/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 -=-=-=-=-=-=-
2025-12-22T08:09:53 - INFO:  Reading sonar track took 0.2466723918914795 sec!
2025-12-22T08:09:53 - INFO:  Reading sonar alignment track took {0.004759550094604492} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  0%|          | 1/200 [00:00<00:20,  9.67it/s]
  2%|▏         | 4/200 [00:00<00:09, 20.74it/s]
  4%|▎         | 7/200 [00:00<00:08, 22.41it/s]
  5%|▌         | 10/200 [00:00<00:09, 19.83it/s]
  6%|▋         | 13/200 [00:00<00:09, 20.27it/s]
  8%|▊         | 16/200 [00:00<00:08, 22.04it/s]
 10%|▉         | 19/200 [00:00<00:07, 23.85it/s]
 11%|█         | 22/200 [00:01<00:07, 22.73it/s]
 12%|█▎        | 25/200 [00:01<00:07, 23.21it/s]
 14%|█▍        | 28/200 [00:01<00:07, 22.29it/s]
 16%|█▌        | 31/200 [00:01<00:07, 21.65it/s]
 17%|█▋        | 34/200 [00:01<00:07, 22.71it/s]
 18%|█▊        | 37/200 [00:01<00:06, 23.97it/s]
 20%|██        | 40/200 [00:01<00:06, 24.65it/s]
 22%|██▏       | 43/200 [00:01<00:06, 23.21it/s]
 23%|██▎       | 46/200 [00:02<00:06, 23.55it/s]
 24%|██▍       | 49/200 [00:02<00:06, 23.72it/s]
 26%|██▌       | 52/200 [00:02<00:06, 24.07it/s]
 28%|██▊       | 55/200 [00:02<00:06, 24.03it/s]
 29%|██▉       | 58/200 [00:02<00:05, 24.99it/s]
 30%|███       | 61/200 [00:02<00:06, 22.29it/s]
 32%|███▏      | 64/200 [00:02<00:06, 22.38it/s]
 34%|███▍      | 68/200 [00:02<00:05, 24.81it/s]
 36%|███▌      | 71/200 [00:03<00:05, 22.81it/s]
 37%|███▋      | 74/200 [00:03<00:05, 22.89it/s]
 38%|███▊      | 77/200 [00:03<00:05, 23.06it/s]
 40%|████      | 80/200 [00:03<00:05, 22.80it/s]
 42%|████▏     | 83/200 [00:03<00:04, 23.69it/s]
 43%|████▎     | 86/200 [00:03<00:05, 22.40it/s]
 44%|████▍     | 89/200 [00:03<00:04, 23.39it/s]
 46%|████▌     | 92/200 [00:04<00:04, 22.65it/s]
 48%|████▊     | 95/200 [00:04<00:04, 22.47it/s]
 49%|████▉     | 98/200 [00:04<00:04, 22.85it/s]
 50%|█████     | 101/200 [00:04<00:04, 22.50it/s]
 52%|█████▏    | 104/200 [00:04<00:04, 23.08it/s]
 54%|█████▎    | 107/200 [00:04<00:04, 22.32it/s]
 55%|█████▌    | 110/200 [00:04<00:03, 22.90it/s]
 56%|█████▋    | 113/200 [00:04<00:03, 24.27it/s]
 58%|█████▊    | 116/200 [00:05<00:03, 24.55it/s]
 60%|█████▉    | 119/200 [00:05<00:03, 24.82it/s]
 61%|██████    | 122/200 [00:05<00:03, 24.39it/s]
 62%|██████▎   | 125/200 [00:05<00:03, 23.83it/s]
 64%|██████▍   | 128/200 [00:05<00:03, 23.92it/s]
 66%|██████▌   | 131/200 [00:05<00:02, 25.03it/s]
 67%|██████▋   | 134/200 [00:05<00:02, 23.93it/s]
 68%|██████▊   | 137/200 [00:05<00:02, 22.42it/s]
 70%|███████   | 140/200 [00:06<00:02, 22.65it/s]
 72%|███████▏  | 143/200 [00:06<00:02, 23.40it/s]
 73%|███████▎  | 146/200 [00:06<00:02, 21.26it/s]
 74%|███████▍  | 149/200 [00:06<00:02, 20.36it/s]
 76%|███████▌  | 152/200 [00:06<00:02, 21.55it/s]
 78%|███████▊  | 156/200 [00:06<00:01, 23.17it/s]
 80%|███████▉  | 159/200 [00:06<00:01, 22.57it/s]
 81%|████████  | 162/200 [00:07<00:01, 23.33it/s]
 82%|████████▎ | 165/200 [00:07<00:01, 21.48it/s]
 84%|████████▍ | 168/200 [00:07<00:01, 21.85it/s]
 86%|████████▌ | 171/200 [00:07<00:01, 22.89it/s]
 87%|████████▋ | 174/200 [00:07<00:01, 21.47it/s]
 89%|████████▉ | 178/200 [00:07<00:00, 23.88it/s]
 90%|█████████ | 181/200 [00:07<00:00, 25.06it/s]
 92%|█████████▏| 184/200 [00:08<00:00, 22.84it/s]
 94%|█████████▎| 187/200 [00:08<00:00, 24.37it/s]
 96%|█████████▌| 191/200 [00:08<00:00, 26.58it/s]
 97%|█████████▋| 194/200 [00:08<00:00, 26.41it/s]
 98%|█████████▊| 197/200 [00:08<00:00, 26.30it/s]
100%|██████████| 200/200 [00:08<00:00, 20.67it/s]
100%|██████████| 200/200 [00:08<00:00, 22.96it/s]
 Median Scale of 200 frame found to be: 0.8875789704586855
 Fit to reference shape: 

0it [00:00, ?it/s]
6it [00:00, 52.32it/s]
12it [00:00, 53.71it/s]
19it [00:00, 58.77it/s]
28it [00:00, 69.95it/s]
36it [00:00, 72.83it/s]
44it [00:00, 73.25it/s]
52it [00:00, 75.18it/s]
61it [00:00, 77.25it/s]
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78it [00:01, 75.54it/s]
90it [00:01, 87.14it/s]
103it [00:01, 98.80it/s]
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127it [00:01, 105.64it/s]
140it [00:01, 110.89it/s]
152it [00:01, 111.18it/s]
164it [00:01, 112.46it/s]
176it [00:01, 109.11it/s]
187it [00:02, 105.40it/s]
199it [00:02, 108.50it/s]
211it [00:02, 110.91it/s]
223it [00:02, 107.77it/s]
235it [00:02, 110.72it/s]
247it [00:02, 110.01it/s]
259it [00:02, 107.13it/s]
272it [00:02, 112.53it/s]
284it [00:02, 110.10it/s]
296it [00:03, 106.34it/s]
309it [00:03, 112.46it/s]
321it [00:03, 108.45it/s]
333it [00:03, 110.58it/s]
345it [00:03, 111.35it/s]
357it [00:03, 105.12it/s]
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380it [00:03, 98.84it/s] 
392it [00:03, 103.10it/s]
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428it [00:04, 107.43it/s]
439it [00:04, 107.77it/s]
450it [00:04, 108.03it/s]
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475it [00:04, 114.94it/s]
488it [00:04, 117.94it/s]
501it [00:04, 119.62it/s]
513it [00:05, 118.77it/s]
525it [00:05, 117.55it/s]
537it [00:05, 113.32it/s]
549it [00:05, 113.68it/s]
561it [00:05, 112.78it/s]
573it [00:05, 114.33it/s]
585it [00:05, 109.87it/s]
597it [00:05, 111.96it/s]
609it [00:05, 106.89it/s]
621it [00:06, 109.13it/s]
635it [00:06, 116.84it/s]
647it [00:06, 115.75it/s]
660it [00:06, 117.79it/s]
672it [00:06, 117.08it/s]
684it [00:06, 117.89it/s]
696it [00:06, 114.28it/s]
708it [00:06, 103.71it/s]
719it [00:06, 105.04it/s]
730it [00:06, 102.09it/s]
741it [00:07, 101.08it/s]
753it [00:07, 105.58it/s]
764it [00:07, 105.74it/s]
776it [00:07, 108.70it/s]
789it [00:07, 112.50it/s]
801it [00:07, 111.11it/s]
814it [00:07, 116.27it/s]
826it [00:07, 116.25it/s]
838it [00:07, 111.14it/s]
850it [00:08, 103.19it/s]
861it [00:08, 102.21it/s]
872it [00:08, 99.69it/s] 
883it [00:08, 101.51it/s]
895it [00:08, 106.57it/s]
907it [00:08, 109.63it/s]
919it [00:08, 109.66it/s]
931it [00:08, 109.22it/s]
944it [00:08, 113.37it/s]
957it [00:09, 115.56it/s]
969it [00:09, 114.40it/s]
981it [00:09, 115.81it/s]
993it [00:09, 116.02it/s]
1005it [00:09, 115.00it/s]
1017it [00:09, 101.94it/s]
1028it [00:09, 103.79it/s]
1041it [00:09, 110.14it/s]
1053it [00:09, 110.49it/s]
1065it [00:10, 111.18it/s]
1078it [00:10, 114.29it/s]
1091it [00:10, 116.75it/s]
1103it [00:10, 111.39it/s]
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1128it [00:10, 111.01it/s]
1140it [00:10, 113.25it/s]
1152it [00:10, 113.69it/s]
1164it [00:10, 113.45it/s]
1176it [00:11, 112.38it/s]
1188it [00:11, 112.37it/s]
1200it [00:11, 110.42it/s]
1212it [00:11, 112.92it/s]
1225it [00:11, 116.22it/s]
1238it [00:11, 117.13it/s]
1250it [00:11, 115.88it/s]
1263it [00:11, 117.65it/s]
1275it [00:11, 116.79it/s]
1287it [00:11, 112.33it/s]
1299it [00:12, 112.26it/s]
1311it [00:12, 106.24it/s]
1323it [00:12, 108.60it/s]
1334it [00:12, 99.41it/s] 
1345it [00:12, 99.52it/s]
1356it [00:12, 100.71it/s]
1367it [00:12, 99.92it/s] 
1378it [00:12, 101.55it/s]
1389it [00:13, 98.68it/s] 
1400it [00:13, 97.50it/s]
1412it [00:13, 100.44it/s]
1424it [00:13, 103.45it/s]
1437it [00:13, 108.49it/s]
1448it [00:13, 103.43it/s]
1459it [00:13, 103.33it/s]
1470it [00:13, 104.31it/s]
1481it [00:13, 102.94it/s]
1493it [00:14, 105.61it/s]
1504it [00:14, 105.67it/s]
1515it [00:14, 105.58it/s]
1527it [00:14, 108.02it/s]
1539it [00:14, 109.92it/s]
1551it [00:14, 110.32it/s]
1563it [00:14, 110.61it/s]
1575it [00:14, 107.43it/s]
1587it [00:14, 106.45it/s]
1598it [00:14, 104.53it/s]
1611it [00:15, 110.47it/s]
1623it [00:15, 108.88it/s]
1634it [00:15, 106.34it/s]
1645it [00:15, 102.14it/s]
1657it [00:15, 105.08it/s]
1669it [00:15, 107.98it/s]
1680it [00:15, 107.22it/s]
1693it [00:15, 111.12it/s]
1706it [00:15, 114.25it/s]
1718it [00:16, 115.05it/s]
1730it [00:16, 115.74it/s]
1743it [00:16, 118.44it/s]
1755it [00:16, 114.56it/s]
1767it [00:16, 105.04it/s]
1781it [00:16, 110.48it/s]
1793it [00:16, 107.98it/s]
1804it [00:16, 108.42it/s]
1815it [00:16, 106.26it/s]
1826it [00:17, 106.78it/s]
1839it [00:17, 112.75it/s]
1851it [00:17, 108.89it/s]
1863it [00:17, 109.74it/s]
1875it [00:17, 106.90it/s]
1888it [00:17, 111.68it/s]
1900it [00:17, 111.75it/s]
1912it [00:17, 103.89it/s]
1924it [00:17, 106.67it/s]
1937it [00:18, 112.23it/s]
1949it [00:18, 113.25it/s]
1961it [00:18, 112.90it/s]
1973it [00:18, 114.27it/s]
1985it [00:18, 111.88it/s]
1999it [00:18, 116.90it/s]
2011it [00:18, 112.98it/s]
2023it [00:18, 110.72it/s]
2035it [00:18, 111.21it/s]
2047it [00:19, 112.04it/s]
2059it [00:19, 113.56it/s]
2071it [00:19, 113.76it/s]
2084it [00:19, 116.40it/s]
2096it [00:19, 111.16it/s]
2109it [00:19, 116.15it/s]
2121it [00:19, 109.15it/s]
2134it [00:19, 112.33it/s]
2146it [00:19, 114.32it/s]
2158it [00:20, 114.99it/s]
2170it [00:20, 116.31it/s]
2182it [00:20, 116.20it/s]
2194it [00:20, 103.73it/s]
2206it [00:20, 106.78it/s]
2217it [00:20, 105.57it/s]
2229it [00:20, 107.39it/s]
2242it [00:20, 112.59it/s]
2254it [00:20, 110.32it/s]
2267it [00:20, 114.21it/s]
2279it [00:21, 108.25it/s]
2291it [00:21, 111.33it/s]
2303it [00:21, 111.37it/s]
2316it [00:21, 113.72it/s]
2328it [00:21, 112.83it/s]
2341it [00:21, 114.75it/s]
2354it [00:21, 116.32it/s]
2366it [00:21, 117.31it/s]
2378it [00:21, 114.00it/s]
2391it [00:22, 116.48it/s]
2403it [00:22, 115.83it/s]
2415it [00:22, 113.92it/s]
2427it [00:22, 113.64it/s]
2440it [00:22, 116.82it/s]
2452it [00:22, 114.71it/s]
2464it [00:22, 112.54it/s]
2476it [00:22, 111.26it/s]
2488it [00:22, 108.23it/s]
2501it [00:23, 112.91it/s]
2513it [00:23, 114.51it/s]
2525it [00:23, 115.95it/s]
2538it [00:23, 119.21it/s]
2550it [00:23, 114.31it/s]
2562it [00:23, 113.87it/s]
2574it [00:23, 110.48it/s]
2586it [00:23, 107.68it/s]
2598it [00:23, 110.50it/s]
2610it [00:24, 111.38it/s]
2622it [00:24, 111.48it/s]
2634it [00:24, 105.69it/s]
2646it [00:24, 109.43it/s]
2660it [00:24, 116.46it/s]
2673it [00:24, 120.14it/s]
2687it [00:24, 121.20it/s]
2700it [00:24, 119.92it/s]
2713it [00:24, 118.60it/s]
2725it [00:25, 113.94it/s]
2737it [00:25, 110.86it/s]
2749it [00:25, 111.38it/s]
2762it [00:25, 115.69it/s]
2774it [00:25, 112.25it/s]
2786it [00:25, 112.19it/s]
2798it [00:25, 112.45it/s]
2811it [00:25, 116.69it/s]
2824it [00:25, 118.36it/s]
2838it [00:25, 122.45it/s]
2851it [00:26, 120.71it/s]
2864it [00:26, 116.63it/s]
2877it [00:26, 119.16it/s]
2889it [00:26, 106.07it/s]
2900it [00:26, 105.25it/s]
2911it [00:26, 105.25it/s]
2922it [00:26, 101.89it/s]
2934it [00:26, 105.07it/s]
2946it [00:27, 107.60it/s]
2957it [00:27, 108.02it/s]
2969it [00:27, 110.35it/s]
2981it [00:27, 108.25it/s]
2993it [00:27, 110.88it/s]
3006it [00:27, 115.52it/s]
3018it [00:27, 116.60it/s]
3030it [00:27, 109.00it/s]
3042it [00:27, 108.62it/s]
3054it [00:27, 111.56it/s]
3066it [00:28, 111.49it/s]
3079it [00:28, 114.61it/s]
3093it [00:28, 118.12it/s]
3108it [00:28, 126.29it/s]
3121it [00:28, 121.85it/s]
3134it [00:28, 120.14it/s]
3147it [00:28, 119.61it/s]
3159it [00:28, 116.93it/s]
3171it [00:28, 114.18it/s]
3183it [00:29, 115.41it/s]
3196it [00:29, 118.14it/s]
3208it [00:29, 109.78it/s]
3220it [00:29, 110.11it/s]
3232it [00:29, 107.11it/s]
3244it [00:29, 107.73it/s]
3255it [00:29, 102.17it/s]
3267it [00:29, 105.97it/s]
3279it [00:29, 109.72it/s]
3291it [00:30, 112.23it/s]
3303it [00:30, 108.87it/s]
3315it [00:30, 109.44it/s]
3327it [00:30, 111.60it/s]
3339it [00:30, 110.86it/s]
3352it [00:30, 115.74it/s]
3364it [00:30, 116.06it/s]
3376it [00:30, 116.88it/s]
3390it [00:30, 121.60it/s]
3403it [00:31, 115.03it/s]
3415it [00:31, 110.17it/s]
3427it [00:31, 111.59it/s]
3439it [00:31, 109.42it/s]
3450it [00:31, 107.75it/s]
3461it [00:31, 106.70it/s]
3473it [00:31, 108.89it/s]
3485it [00:31, 111.42it/s]
3497it [00:31, 110.90it/s]
3509it [00:32, 112.34it/s]
3521it [00:32, 104.30it/s]
3532it [00:32, 98.17it/s] 
3544it [00:32, 101.85it/s]
3555it [00:32, 101.51it/s]
3566it [00:32, 101.09it/s]
3578it [00:32, 106.14it/s]
3589it [00:32, 105.81it/s]
3600it [00:32, 100.84it/s]
3611it [00:33, 97.77it/s] 
3622it [00:33, 98.82it/s]
3632it [00:33, 96.70it/s]
3644it [00:33, 102.53it/s]
3655it [00:33, 103.57it/s]
3667it [00:33, 107.89it/s]
3679it [00:33, 110.55it/s]
3691it [00:33, 112.22it/s]
3703it [00:33, 112.38it/s]
3715it [00:33, 112.11it/s]
3727it [00:34, 112.87it/s]
3739it [00:34, 113.12it/s]
3751it [00:34, 113.56it/s]
3763it [00:34, 115.05it/s]
3775it [00:34, 114.56it/s]
3787it [00:34, 112.72it/s]
3799it [00:34, 110.71it/s]
3811it [00:34, 113.26it/s]
3823it [00:34, 109.27it/s]
3834it [00:35, 105.41it/s]
3845it [00:35, 103.76it/s]
3858it [00:35, 110.06it/s]
3870it [00:35, 109.68it/s]
3884it [00:35, 115.11it/s]
3897it [00:35, 115.86it/s]
3909it [00:35, 114.69it/s]
3921it [00:35, 113.75it/s]
3934it [00:35, 117.19it/s]
3946it [00:36, 115.13it/s]
3958it [00:36, 110.35it/s]
3970it [00:36, 112.66it/s]
3982it [00:36, 113.24it/s]
3994it [00:36, 111.78it/s]
4006it [00:36, 113.46it/s]
4018it [00:36, 114.49it/s]
4030it [00:36, 114.32it/s]
4042it [00:36, 109.21it/s]
4054it [00:37, 109.78it/s]
4066it [00:37, 112.60it/s]
4078it [00:37, 112.17it/s]
4090it [00:37, 102.51it/s]
4102it [00:37, 105.22it/s]
4113it [00:37, 102.39it/s]
4125it [00:37, 106.58it/s]
4137it [00:37, 107.77it/s]
4149it [00:37, 110.91it/s]
4161it [00:38, 111.60it/s]
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Track data saved to /working/157af8c3-a509-45cb-9348-95d6e2b1dfdc/processing/data/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/157af8c3-a509-45cb-9348-95d6e2b1dfdc/processing/data/laser_aligned.ptd.cbor