=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.9
Input file:  /working/29d3f04d-bc10-4e33-9c15-7c55cf92a4a4/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 -=-=-=-=-=-=-
2025-12-22T21:24:21 - INFO:  Reading sonar track took 0.03413748741149902 sec!
2025-12-22T21:24:21 - INFO:  Reading sonar alignment track took {0.0005741119384765625} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  2%|▏         | 3/200 [00:00<00:07, 25.20it/s]
  3%|▎         | 6/200 [00:00<00:08, 23.30it/s]
  4%|▍         | 9/200 [00:00<00:08, 22.65it/s]
  6%|▋         | 13/200 [00:00<00:07, 26.00it/s]
  8%|▊         | 16/200 [00:00<00:07, 25.74it/s]
 10%|█         | 20/200 [00:00<00:06, 26.87it/s]
 12%|█▏        | 23/200 [00:00<00:06, 26.45it/s]
 13%|█▎        | 26/200 [00:01<00:06, 25.84it/s]
 15%|█▌        | 30/200 [00:01<00:06, 26.21it/s]
 16%|█▋        | 33/200 [00:01<00:07, 22.91it/s]
 18%|█▊        | 36/200 [00:01<00:06, 24.27it/s]
 20%|█▉        | 39/200 [00:01<00:06, 24.50it/s]
 21%|██        | 42/200 [00:01<00:06, 25.33it/s]
 22%|██▎       | 45/200 [00:01<00:06, 23.72it/s]
 24%|██▍       | 48/200 [00:01<00:06, 23.80it/s]
 26%|██▌       | 51/200 [00:02<00:06, 24.82it/s]
 27%|██▋       | 54/200 [00:02<00:05, 25.46it/s]
 28%|██▊       | 57/200 [00:02<00:05, 25.21it/s]
 30%|███       | 60/200 [00:02<00:05, 25.18it/s]
 32%|███▏      | 63/200 [00:02<00:05, 25.21it/s]
 33%|███▎      | 66/200 [00:02<00:05, 25.44it/s]
 34%|███▍      | 69/200 [00:02<00:04, 26.44it/s]
 36%|███▌      | 72/200 [00:02<00:05, 24.25it/s]
 38%|███▊      | 75/200 [00:02<00:04, 25.54it/s]
 39%|███▉      | 78/200 [00:03<00:04, 26.28it/s]
 40%|████      | 81/200 [00:03<00:04, 25.61it/s]
 42%|████▏     | 84/200 [00:03<00:04, 24.86it/s]
 44%|████▎     | 87/200 [00:03<00:04, 23.96it/s]
 46%|████▌     | 91/200 [00:03<00:04, 24.54it/s]
 47%|████▋     | 94/200 [00:03<00:04, 25.15it/s]
 48%|████▊     | 97/200 [00:03<00:04, 23.84it/s]
 50%|█████     | 100/200 [00:03<00:03, 25.19it/s]
 52%|█████▏    | 103/200 [00:04<00:03, 24.73it/s]
 53%|█████▎    | 106/200 [00:04<00:03, 24.95it/s]
 55%|█████▍    | 109/200 [00:04<00:04, 20.60it/s]
 56%|█████▌    | 112/200 [00:04<00:04, 20.34it/s]
 57%|█████▊    | 115/200 [00:04<00:03, 22.12it/s]
 59%|█████▉    | 118/200 [00:04<00:03, 21.03it/s]
 60%|██████    | 121/200 [00:04<00:03, 22.34it/s]
 62%|██████▏   | 124/200 [00:05<00:03, 22.21it/s]
 64%|██████▎   | 127/200 [00:05<00:03, 23.90it/s]
 65%|██████▌   | 130/200 [00:05<00:03, 22.04it/s]
 66%|██████▋   | 133/200 [00:05<00:02, 23.53it/s]
 68%|██████▊   | 137/200 [00:05<00:02, 25.67it/s]
 70%|███████   | 140/200 [00:05<00:02, 25.33it/s]
 72%|███████▏  | 143/200 [00:05<00:02, 26.45it/s]
 73%|███████▎  | 146/200 [00:05<00:02, 25.22it/s]
 74%|███████▍  | 149/200 [00:06<00:01, 26.38it/s]
 76%|███████▋  | 153/200 [00:06<00:01, 27.73it/s]
 78%|███████▊  | 157/200 [00:06<00:01, 28.03it/s]
 80%|████████  | 161/200 [00:06<00:01, 29.72it/s]
 82%|████████▏ | 164/200 [00:06<00:01, 28.34it/s]
 84%|████████▎ | 167/200 [00:06<00:01, 28.19it/s]
 85%|████████▌ | 170/200 [00:06<00:01, 28.33it/s]
 86%|████████▋ | 173/200 [00:06<00:00, 27.14it/s]
 88%|████████▊ | 176/200 [00:07<00:00, 26.74it/s]
 90%|█████████ | 180/200 [00:07<00:00, 28.40it/s]
 92%|█████████▏| 184/200 [00:07<00:00, 29.38it/s]
 94%|█████████▎| 187/200 [00:07<00:00, 25.53it/s]
 96%|█████████▌| 191/200 [00:07<00:00, 26.70it/s]
 98%|█████████▊| 195/200 [00:07<00:00, 27.95it/s]
 99%|█████████▉| 198/200 [00:07<00:00, 28.21it/s]
100%|██████████| 200/200 [00:07<00:00, 25.33it/s]
 Median Scale of 200 frame found to be: 1.211630101660177
 Fit to reference shape: 

0it [00:00, ?it/s]
6it [00:00, 54.58it/s]
12it [00:00, 50.51it/s]
18it [00:00, 43.06it/s]
23it [00:00, 44.62it/s]
28it [00:00, 43.14it/s]
33it [00:00, 44.01it/s]
38it [00:00, 39.70it/s]
43it [00:00, 42.28it/s]
48it [00:01, 40.27it/s]
57it [00:01, 52.74it/s]
66it [00:01, 58.76it/s]
75it [00:01, 65.58it/s]
83it [00:01, 62.76it/s]
90it [00:01, 57.52it/s]
98it [00:01, 61.70it/s]
108it [00:01, 69.68it/s]
118it [00:02, 77.21it/s]
127it [00:02, 80.31it/s]
136it [00:02, 77.28it/s]
145it [00:02, 79.52it/s]
155it [00:02, 84.39it/s]
164it [00:02, 82.98it/s]
173it [00:02, 77.94it/s]
182it [00:02, 80.51it/s]
191it [00:02, 80.81it/s]
200it [00:03, 82.61it/s]
210it [00:03, 83.91it/s]
221it [00:03, 90.09it/s]
231it [00:03, 87.67it/s]
241it [00:03, 89.60it/s]
251it [00:03, 89.35it/s]
260it [00:03, 88.49it/s]
269it [00:03, 86.07it/s]
279it [00:03, 87.96it/s]
288it [00:04, 86.04it/s]
297it [00:04, 86.17it/s]
308it [00:04, 88.34it/s]
318it [00:04, 90.39it/s]
329it [00:04, 94.86it/s]
339it [00:04, 94.42it/s]
349it [00:04, 94.70it/s]
360it [00:04, 95.74it/s]
373it [00:04, 103.44it/s]
384it [00:05, 98.50it/s] 
394it [00:05, 91.99it/s]
404it [00:05, 90.92it/s]
414it [00:05, 92.84it/s]
425it [00:05, 96.06it/s]
435it [00:05, 94.68it/s]
445it [00:05, 92.42it/s]
455it [00:05, 84.17it/s]
464it [00:05, 81.64it/s]
473it [00:06, 81.25it/s]
484it [00:06, 87.80it/s]
495it [00:06, 92.57it/s]
505it [00:06, 91.50it/s]
515it [00:06, 86.44it/s]
524it [00:06, 82.42it/s]
533it [00:06, 79.25it/s]
541it [00:06, 78.45it/s]
552it [00:07, 86.19it/s]
561it [00:07, 83.82it/s]
572it [00:07, 89.86it/s]
583it [00:07, 93.34it/s]
596it [00:07, 102.88it/s]
607it [00:07, 82.57it/s] 
616it [00:07, 81.06it/s]
626it [00:07, 85.33it/s]
635it [00:07, 83.74it/s]
644it [00:08, 84.66it/s]
653it [00:08, 80.13it/s]
662it [00:08, 79.24it/s]
674it [00:08, 89.48it/s]
684it [00:08, 83.38it/s]
693it [00:08, 84.82it/s]
702it [00:08, 82.98it/s]
713it [00:08, 89.66it/s]
723it [00:08, 88.00it/s]
733it [00:09, 89.31it/s]
743it [00:09, 85.51it/s]
752it [00:09, 85.57it/s]
761it [00:09, 83.84it/s]
770it [00:09, 77.08it/s]
782it [00:09, 87.50it/s]
791it [00:09, 87.53it/s]
800it [00:09, 86.49it/s]
811it [00:10, 90.70it/s]
821it [00:10, 88.89it/s]
831it [00:10, 91.76it/s]
842it [00:10, 96.56it/s]
852it [00:10, 94.55it/s]
862it [00:10, 87.70it/s]
871it [00:10, 80.66it/s]
880it [00:10, 77.18it/s]
888it [00:10, 72.08it/s]
896it [00:11, 74.07it/s]
906it [00:11, 80.37it/s]
916it [00:11, 84.83it/s]
925it [00:11, 85.10it/s]
936it [00:11, 90.89it/s]
946it [00:11, 92.80it/s]
956it [00:11, 89.85it/s]
966it [00:11, 90.81it/s]
977it [00:11, 95.03it/s]
987it [00:12, 88.79it/s]
999it [00:12, 94.27it/s]
1011it [00:12, 100.07it/s]
1022it [00:12, 95.84it/s] 
1032it [00:12, 93.26it/s]
1043it [00:12, 97.22it/s]
1053it [00:12, 85.88it/s]
1062it [00:12, 80.48it/s]
1072it [00:13, 83.59it/s]
1083it [00:13, 88.84it/s]
1093it [00:13, 90.69it/s]
1103it [00:13, 91.18it/s]
1113it [00:13, 85.24it/s]
1122it [00:13, 81.11it/s]
1132it [00:13, 82.54it/s]
1143it [00:13, 87.29it/s]
1153it [00:13, 87.86it/s]
1164it [00:14, 91.86it/s]
1175it [00:14, 92.93it/s]
1185it [00:14, 84.61it/s]
1198it [00:14, 95.17it/s]
1208it [00:14, 90.72it/s]
1218it [00:14, 82.84it/s]
1227it [00:14, 83.10it/s]
1236it [00:14, 77.02it/s]
1246it [00:15, 80.89it/s]
1255it [00:15, 80.21it/s]
1264it [00:15, 79.54it/s]
1273it [00:15, 80.56it/s]
1282it [00:15, 80.37it/s]
1293it [00:15, 87.28it/s]
1303it [00:15, 89.61it/s]
1313it [00:15, 88.95it/s]
1322it [00:15, 86.83it/s]
1331it [00:16, 81.05it/s]
1340it [00:16, 81.61it/s]
1353it [00:16, 92.43it/s]
1363it [00:16, 94.13it/s]
1374it [00:16, 95.50it/s]
1384it [00:16, 91.95it/s]
1394it [00:16, 91.74it/s]
1404it [00:16, 93.05it/s]
1414it [00:16, 87.87it/s]
1423it [00:17, 82.35it/s]
1432it [00:17, 78.30it/s]
1441it [00:17, 81.11it/s]
1451it [00:17, 86.09it/s]
1463it [00:17, 90.63it/s]
1473it [00:17, 86.51it/s]
1484it [00:17, 86.57it/s]
1493it [00:17, 85.44it/s]
1504it [00:17, 90.97it/s]
1514it [00:18, 85.35it/s]
1523it [00:18, 85.80it/s]
1532it [00:18, 80.81it/s]
1544it [00:18, 88.97it/s]
1554it [00:18, 88.76it/s]
1564it [00:18, 90.72it/s]
1574it [00:18, 92.91it/s]
1584it [00:18, 88.48it/s]
1593it [00:19, 82.52it/s]
1604it [00:19, 88.80it/s]
1614it [00:19, 85.72it/s]
1623it [00:19, 84.17it/s]
1634it [00:19, 89.57it/s]
1644it [00:19, 85.46it/s]
1653it [00:19, 84.07it/s]
1662it [00:19, 84.65it/s]
1671it [00:19, 77.77it/s]
1679it [00:20, 77.18it/s]
1687it [00:20, 76.34it/s]
1696it [00:20, 78.78it/s]
1706it [00:20, 80.42it/s]
1716it [00:20, 80.91it/s]
1728it [00:20, 91.33it/s]
1738it [00:20, 87.93it/s]
1750it [00:20, 95.73it/s]
1760it [00:20, 93.28it/s]
1770it [00:21, 92.06it/s]
1780it [00:21, 83.56it/s]
1790it [00:21, 86.39it/s]
1799it [00:21, 81.04it/s]
1808it [00:21, 81.11it/s]
1819it [00:21, 86.25it/s]
1830it [00:21, 92.61it/s]
1841it [00:21, 97.22it/s]
1851it [00:21, 94.64it/s]
1861it [00:22, 93.51it/s]
1871it [00:22, 87.01it/s]
1881it [00:22, 83.52it/s]
1890it [00:22, 82.83it/s]
1899it [00:22, 79.91it/s]
1910it [00:22, 87.51it/s]
1919it [00:22, 79.41it/s]
1928it [00:22, 73.43it/s]
1941it [00:23, 86.69it/s]
1953it [00:23, 94.63it/s]
1963it [00:23, 88.25it/s]
1973it [00:23, 83.64it/s]
1984it [00:23, 89.70it/s]
1994it [00:23, 79.38it/s]
2003it [00:23, 78.55it/s]
2012it [00:23, 80.03it/s]
2022it [00:24, 84.82it/s]
2034it [00:24, 88.83it/s]
2046it [00:24, 95.47it/s]
2056it [00:24, 96.37it/s]
2066it [00:24, 91.21it/s]
2076it [00:24, 87.22it/s]
2085it [00:24, 79.85it/s]
2094it [00:24, 79.25it/s]
2103it [00:25, 74.04it/s]
2112it [00:25, 77.80it/s]
2122it [00:25, 82.20it/s]
2133it [00:25, 88.20it/s]
2142it [00:25, 81.63it/s]
2151it [00:25, 71.32it/s]
2160it [00:25, 75.81it/s]
2168it [00:25, 75.44it/s]
2176it [00:25, 70.33it/s]
2185it [00:26, 75.06it/s]
2198it [00:26, 87.90it/s]
2208it [00:26, 82.36it/s]
2219it [00:26, 89.51it/s]
2229it [00:26, 75.78it/s]
2238it [00:26, 78.20it/s]
2249it [00:26, 85.77it/s]
2258it [00:26, 76.93it/s]
2270it [00:27, 85.29it/s]
2283it [00:27, 95.98it/s]
2294it [00:27, 97.33it/s]
2306it [00:27, 96.17it/s]
2316it [00:27, 86.36it/s]
2325it [00:27, 85.51it/s]
2334it [00:27, 76.38it/s]
2342it [00:27, 72.63it/s]
2352it [00:28, 78.69it/s]
2361it [00:28, 77.12it/s]
2369it [00:28, 74.78it/s]
2379it [00:28, 79.84it/s]
2388it [00:28, 80.06it/s]
2397it [00:28, 82.74it/s]
2407it [00:28, 83.05it/s]
2416it [00:28, 83.89it/s]
2428it [00:28, 93.28it/s]
2438it [00:29, 94.73it/s]
2448it [00:29, 91.82it/s]
2458it [00:29, 93.97it/s]
2468it [00:29, 95.09it/s]
2478it [00:29, 88.89it/s]
2488it [00:29, 91.24it/s]
2498it [00:29, 89.34it/s]
2508it [00:29, 91.30it/s]
2518it [00:29, 88.36it/s]
2528it [00:30, 90.79it/s]
2538it [00:30, 83.15it/s]
2548it [00:30, 86.03it/s]
2557it [00:30, 84.70it/s]
2568it [00:30, 89.97it/s]
2578it [00:30, 87.16it/s]
2587it [00:30, 76.96it/s]
2596it [00:30, 79.02it/s]
2606it [00:30, 83.58it/s]
2615it [00:31, 78.39it/s]
2624it [00:31, 80.65it/s]
2636it [00:31, 90.70it/s]
2646it [00:31, 80.91it/s]
2657it [00:31, 83.58it/s]
2666it [00:31, 79.49it/s]
2675it [00:31, 82.02it/s]
2684it [00:31, 79.92it/s]
2693it [00:32, 80.95it/s]
2702it [00:32, 82.24it/s]
2712it [00:32, 86.09it/s]
2721it [00:32, 84.77it/s]
2730it [00:32, 78.97it/s]
2739it [00:32, 79.19it/s]
2747it [00:32, 77.18it/s]
2759it [00:32, 88.35it/s]
2768it [00:32, 84.70it/s]
2777it [00:33, 80.54it/s]
2786it [00:33, 77.93it/s]
2794it [00:33, 76.63it/s]
2806it [00:33, 86.60it/s]
2815it [00:33, 86.34it/s]
2824it [00:33, 81.42it/s]
2834it [00:33, 85.59it/s]
2843it [00:33, 85.22it/s]
2852it [00:33, 83.58it/s]
2863it [00:34, 89.63it/s]
2873it [00:34, 85.26it/s]
2884it [00:34, 90.53it/s]
2894it [00:34, 92.50it/s]
2904it [00:34, 92.84it/s]
2914it [00:34, 94.25it/s]
2924it [00:34, 94.99it/s]
2936it [00:34, 100.05it/s]
2947it [00:34, 96.64it/s] 
2957it [00:35, 95.72it/s]
2967it [00:35, 92.53it/s]
2977it [00:35, 87.62it/s]
2986it [00:35, 79.69it/s]
2995it [00:35, 72.40it/s]
3003it [00:35, 70.96it/s]
3013it [00:35, 77.06it/s]
3021it [00:35, 77.54it/s]
3030it [00:36, 78.16it/s]
3039it [00:36, 79.47it/s]
3050it [00:36, 87.67it/s]
3059it [00:36, 82.70it/s]
3069it [00:36, 86.23it/s]
3078it [00:36, 84.20it/s]
3089it [00:36, 90.79it/s]
3099it [00:36, 88.57it/s]
3109it [00:36, 91.08it/s]
3120it [00:37, 94.50it/s]
3130it [00:37, 79.15it/s]
3139it [00:37, 81.69it/s]
3149it [00:37, 82.18it/s]
3158it [00:37, 79.32it/s]
3170it [00:37, 87.30it/s]
3179it [00:37, 82.82it/s]
3189it [00:37, 87.21it/s]
3200it [00:37, 93.22it/s]
3210it [00:38, 80.75it/s]
3220it [00:38, 84.71it/s]
3233it [00:38, 96.02it/s]
3244it [00:38, 95.57it/s]
3254it [00:38, 90.91it/s]
3264it [00:38, 92.60it/s]
3274it [00:38, 93.57it/s]
3284it [00:38, 93.68it/s]
3294it [00:39, 95.34it/s]
3304it [00:39, 86.47it/s]
3313it [00:39, 85.09it/s]
3325it [00:39, 91.00it/s]
3336it [00:39, 92.60it/s]
3346it [00:39, 85.46it/s]
3355it [00:39, 82.33it/s]
3364it [00:39, 81.32it/s]
3373it [00:40, 77.90it/s]
3381it [00:40, 76.67it/s]
3390it [00:40, 79.12it/s]
3402it [00:40, 89.01it/s]
3411it [00:40, 83.07it/s]
3421it [00:40, 85.83it/s]
3430it [00:40, 84.30it/s]
3439it [00:40, 82.68it/s]
3449it [00:40, 84.36it/s]
3459it [00:41, 85.29it/s]
3462it [00:41, 84.32it/s]
Track data saved to /working/29d3f04d-bc10-4e33-9c15-7c55cf92a4a4/processing/data/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/29d3f04d-bc10-4e33-9c15-7c55cf92a4a4/processing/data/laser_aligned.ptd.cbor