=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.9
Input file:  /working/65b45fd2-877f-4bf8-8584-7f99e9b23ba6/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 -=-=-=-=-=-=-
2025-12-22T02:42:50 - INFO:  Reading sonar track took 0.2966630458831787 sec!
2025-12-22T02:42:50 - INFO:  Reading sonar alignment track took {0.00474095344543457} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  2%|▏         | 3/200 [00:00<00:09, 20.39it/s]
  3%|▎         | 6/200 [00:00<00:08, 23.43it/s]
  4%|▍         | 9/200 [00:00<00:08, 23.58it/s]
  6%|▋         | 13/200 [00:00<00:07, 25.59it/s]
  8%|▊         | 16/200 [00:00<00:06, 26.67it/s]
 10%|█         | 20/200 [00:00<00:06, 28.19it/s]
 12%|█▏        | 24/200 [00:00<00:06, 29.21it/s]
 14%|█▎        | 27/200 [00:00<00:05, 28.99it/s]
 15%|█▌        | 30/200 [00:01<00:06, 27.37it/s]
 17%|█▋        | 34/200 [00:01<00:05, 28.94it/s]
 18%|█▊        | 37/200 [00:01<00:06, 26.62it/s]
 20%|██        | 41/200 [00:01<00:05, 27.12it/s]
 22%|██▏       | 44/200 [00:01<00:05, 27.46it/s]
 24%|██▍       | 48/200 [00:01<00:05, 28.29it/s]
 26%|██▌       | 51/200 [00:01<00:05, 25.87it/s]
 27%|██▋       | 54/200 [00:02<00:05, 26.85it/s]
 28%|██▊       | 57/200 [00:02<00:05, 25.94it/s]
 30%|███       | 60/200 [00:02<00:05, 25.15it/s]
 32%|███▏      | 63/200 [00:02<00:05, 24.13it/s]
 34%|███▎      | 67/200 [00:02<00:04, 26.70it/s]
 36%|███▌      | 71/200 [00:02<00:04, 27.35it/s]
 38%|███▊      | 75/200 [00:02<00:04, 28.73it/s]
 39%|███▉      | 78/200 [00:02<00:04, 28.07it/s]
 40%|████      | 81/200 [00:03<00:04, 27.95it/s]
 42%|████▏     | 84/200 [00:03<00:04, 25.65it/s]
 44%|████▎     | 87/200 [00:03<00:04, 25.62it/s]
 45%|████▌     | 90/200 [00:03<00:04, 26.41it/s]
 47%|████▋     | 94/200 [00:03<00:03, 27.59it/s]
 48%|████▊     | 97/200 [00:03<00:03, 25.87it/s]
 50%|█████     | 100/200 [00:03<00:03, 26.62it/s]
 52%|█████▏    | 103/200 [00:03<00:03, 25.96it/s]
 53%|█████▎    | 106/200 [00:04<00:04, 23.23it/s]
 55%|█████▍    | 109/200 [00:04<00:03, 23.10it/s]
 56%|█████▌    | 112/200 [00:04<00:03, 22.44it/s]
 57%|█████▊    | 115/200 [00:04<00:03, 23.71it/s]
 59%|█████▉    | 118/200 [00:04<00:03, 22.97it/s]
 60%|██████    | 121/200 [00:04<00:03, 22.57it/s]
 62%|██████▏   | 124/200 [00:04<00:03, 23.29it/s]
 64%|██████▎   | 127/200 [00:04<00:02, 24.73it/s]
 65%|██████▌   | 130/200 [00:05<00:02, 26.05it/s]
 66%|██████▋   | 133/200 [00:05<00:02, 24.85it/s]
 68%|██████▊   | 136/200 [00:05<00:02, 23.74it/s]
 70%|██████▉   | 139/200 [00:05<00:02, 23.36it/s]
 71%|███████   | 142/200 [00:05<00:02, 24.84it/s]
 72%|███████▎  | 145/200 [00:05<00:02, 24.09it/s]
 74%|███████▍  | 149/200 [00:05<00:02, 25.19it/s]
 76%|███████▌  | 152/200 [00:05<00:01, 24.08it/s]
 78%|███████▊  | 155/200 [00:06<00:01, 24.72it/s]
 79%|███████▉  | 158/200 [00:06<00:01, 25.43it/s]
 80%|████████  | 161/200 [00:06<00:01, 24.44it/s]
 82%|████████▎ | 165/200 [00:06<00:01, 27.09it/s]
 84%|████████▍ | 168/200 [00:06<00:01, 24.39it/s]
 86%|████████▌ | 171/200 [00:06<00:01, 23.05it/s]
 87%|████████▋ | 174/200 [00:06<00:01, 24.16it/s]
 89%|████████▉ | 178/200 [00:06<00:00, 26.40it/s]
 90%|█████████ | 181/200 [00:07<00:00, 24.82it/s]
 92%|█████████▏| 184/200 [00:07<00:00, 23.66it/s]
 94%|█████████▎| 187/200 [00:07<00:00, 23.59it/s]
 95%|█████████▌| 190/200 [00:07<00:00, 22.39it/s]
 97%|█████████▋| 194/200 [00:07<00:00, 24.70it/s]
 98%|█████████▊| 197/200 [00:07<00:00, 24.58it/s]
100%|██████████| 200/200 [00:07<00:00, 25.49it/s]
100%|██████████| 200/200 [00:07<00:00, 25.39it/s]
 Median Scale of 200 frame found to be: 0.6416409766488027
 Fit to reference shape: 

0it [00:00, ?it/s]
6it [00:00, 57.75it/s]
16it [00:00, 78.62it/s]
26it [00:00, 86.65it/s]
37it [00:00, 92.55it/s]
49it [00:00, 101.18it/s]
61it [00:00, 107.24it/s]
73it [00:00, 109.44it/s]
85it [00:00, 110.74it/s]
98it [00:00, 113.46it/s]
111it [00:01, 117.90it/s]
123it [00:01, 113.47it/s]
135it [00:01, 112.63it/s]
148it [00:01, 116.34it/s]
161it [00:01, 117.27it/s]
174it [00:01, 118.83it/s]
187it [00:01, 121.76it/s]
200it [00:01, 122.95it/s]
213it [00:01, 123.84it/s]
226it [00:02, 122.34it/s]
240it [00:02, 126.40it/s]
253it [00:02, 127.08it/s]
266it [00:02, 126.73it/s]
279it [00:02, 123.53it/s]
292it [00:02, 121.25it/s]
305it [00:02, 119.55it/s]
319it [00:02, 123.63it/s]
332it [00:02, 124.16it/s]
346it [00:02, 127.68it/s]
359it [00:03, 124.34it/s]
372it [00:03, 122.28it/s]
385it [00:03, 121.69it/s]
399it [00:03, 125.56it/s]
412it [00:03, 125.62it/s]
425it [00:03, 123.61it/s]
438it [00:03, 123.20it/s]
451it [00:03, 124.17it/s]
464it [00:03, 124.39it/s]
477it [00:04, 121.84it/s]
490it [00:04, 118.29it/s]
502it [00:04, 116.75it/s]
515it [00:04, 118.19it/s]
527it [00:04, 116.90it/s]
539it [00:04, 115.28it/s]
553it [00:04, 119.77it/s]
565it [00:04, 117.59it/s]
577it [00:04, 116.22it/s]
589it [00:05, 106.94it/s]
600it [00:05, 106.30it/s]
612it [00:05, 109.72it/s]
624it [00:05, 110.20it/s]
636it [00:05, 109.40it/s]
648it [00:05, 111.94it/s]
660it [00:05, 112.85it/s]
673it [00:05, 116.70it/s]
685it [00:05, 116.35it/s]
698it [00:05, 118.87it/s]
710it [00:06, 116.48it/s]
722it [00:06, 109.07it/s]
735it [00:06, 112.60it/s]
749it [00:06, 118.21it/s]
761it [00:06, 116.74it/s]
773it [00:06, 116.49it/s]
785it [00:06, 116.80it/s]
798it [00:06, 119.43it/s]
810it [00:06, 117.31it/s]
824it [00:07, 120.85it/s]
837it [00:07, 121.84it/s]
850it [00:07, 122.14it/s]
863it [00:07, 123.27it/s]
876it [00:07, 116.30it/s]
888it [00:07, 112.47it/s]
900it [00:07, 113.81it/s]
913it [00:07, 116.19it/s]
925it [00:07, 116.23it/s]
937it [00:08, 114.40it/s]
949it [00:08, 113.14it/s]
961it [00:08, 110.90it/s]
973it [00:08, 107.48it/s]
984it [00:08, 107.71it/s]
997it [00:08, 111.82it/s]
1011it [00:08, 118.34it/s]
1023it [00:08, 116.37it/s]
1035it [00:08, 115.21it/s]
1048it [00:09, 116.63it/s]
1060it [00:09, 116.21it/s]
1073it [00:09, 118.93it/s]
1086it [00:09, 118.16it/s]
1099it [00:09, 119.22it/s]
1111it [00:09, 116.12it/s]
1123it [00:09, 112.04it/s]
1135it [00:09, 108.35it/s]
1146it [00:09, 105.03it/s]
1158it [00:09, 107.88it/s]
1171it [00:10, 112.27it/s]
1184it [00:10, 115.22it/s]
1196it [00:10, 111.84it/s]
1208it [00:10, 106.95it/s]
1219it [00:10, 107.41it/s]
1231it [00:10, 108.79it/s]
1243it [00:10, 109.21it/s]
1255it [00:10, 110.91it/s]
1267it [00:10, 110.86it/s]
1279it [00:11, 109.40it/s]
1290it [00:11, 108.31it/s]
1302it [00:11, 110.70it/s]
1314it [00:11, 110.68it/s]
1327it [00:11, 115.01it/s]
1341it [00:11, 120.72it/s]
1354it [00:11, 122.35it/s]
1368it [00:11, 124.69it/s]
1382it [00:11, 127.29it/s]
1395it [00:12, 124.26it/s]
1408it [00:12, 123.76it/s]
1421it [00:12, 125.06it/s]
1434it [00:12, 122.13it/s]
1447it [00:12, 124.07it/s]
1460it [00:12, 119.15it/s]
1472it [00:12, 114.85it/s]
1484it [00:12, 114.99it/s]
1496it [00:12, 110.24it/s]
1508it [00:13, 106.34it/s]
1519it [00:13, 99.93it/s] 
1530it [00:13, 99.88it/s]
1541it [00:13, 100.87it/s]
1552it [00:13, 97.00it/s] 
1562it [00:13, 93.08it/s]
1573it [00:13, 93.70it/s]
1583it [00:13, 92.74it/s]
1593it [00:14, 82.39it/s]
1605it [00:14, 89.63it/s]
1615it [00:14, 83.38it/s]
1624it [00:14, 83.10it/s]
1634it [00:14, 86.34it/s]
1644it [00:14, 89.71it/s]
1656it [00:14, 92.72it/s]
1666it [00:14, 89.48it/s]
1678it [00:14, 96.75it/s]
1688it [00:15, 93.06it/s]
1700it [00:15, 100.26it/s]
1711it [00:15, 99.45it/s] 
1723it [00:15, 103.68it/s]
1734it [00:15, 98.75it/s] 
1746it [00:15, 103.83it/s]
1759it [00:15, 108.64it/s]
1770it [00:15, 108.83it/s]
1782it [00:15, 111.45it/s]
1794it [00:15, 112.60it/s]
1806it [00:16, 113.97it/s]
1819it [00:16, 117.60it/s]
1831it [00:16, 116.71it/s]
1843it [00:16, 115.82it/s]
1855it [00:16, 114.71it/s]
1867it [00:16, 112.91it/s]
1879it [00:16, 113.61it/s]
1891it [00:16, 113.55it/s]
1903it [00:16, 114.18it/s]
1915it [00:17, 114.61it/s]
1927it [00:17, 110.83it/s]
1939it [00:17, 112.90it/s]
1952it [00:17, 116.54it/s]
1965it [00:17, 118.48it/s]
1977it [00:17, 116.74it/s]
1989it [00:17, 117.48it/s]
2001it [00:17, 113.93it/s]
2013it [00:17, 111.97it/s]
2026it [00:18, 116.51it/s]
2038it [00:18, 117.08it/s]
2052it [00:18, 121.11it/s]
2065it [00:18, 122.55it/s]
2078it [00:18, 122.93it/s]
2091it [00:18, 124.16it/s]
2104it [00:18, 122.85it/s]
2117it [00:18, 120.54it/s]
2130it [00:18, 117.59it/s]
2142it [00:18, 116.55it/s]
2154it [00:19, 112.99it/s]
2166it [00:19, 112.77it/s]
2178it [00:19, 109.42it/s]
2190it [00:19, 110.58it/s]
2202it [00:19, 111.32it/s]
2214it [00:19, 107.63it/s]
2225it [00:19, 108.13it/s]
2236it [00:19, 108.21it/s]
2247it [00:19, 96.73it/s] 
2257it [00:20, 95.79it/s]
2268it [00:20, 97.75it/s]
2281it [00:20, 105.99it/s]
2294it [00:20, 110.02it/s]
2306it [00:20, 105.31it/s]
2317it [00:20, 99.40it/s] 
2329it [00:20, 103.62it/s]
2340it [00:20, 103.19it/s]
2354it [00:20, 111.35it/s]
2368it [00:21, 117.16it/s]
2380it [00:21, 105.64it/s]
2391it [00:21, 106.57it/s]
2404it [00:21, 111.44it/s]
2417it [00:21, 116.29it/s]
2429it [00:21, 116.72it/s]
2443it [00:21, 120.82it/s]
2456it [00:21, 121.04it/s]
2470it [00:21, 123.91it/s]
2483it [00:22, 122.32it/s]
2496it [00:22, 121.40it/s]
2509it [00:22, 118.79it/s]
2521it [00:22, 119.01it/s]
2534it [00:22, 120.10it/s]
2547it [00:22, 117.23it/s]
2559it [00:22, 115.50it/s]
2571it [00:22, 115.40it/s]
2583it [00:22, 114.52it/s]
2595it [00:23, 115.05it/s]
2607it [00:23, 115.40it/s]
2619it [00:23, 114.60it/s]
2632it [00:23, 118.97it/s]
2644it [00:23, 116.36it/s]
2656it [00:23, 116.45it/s]
2668it [00:23, 116.85it/s]
2681it [00:23, 119.13it/s]
2693it [00:23, 117.51it/s]
2705it [00:23, 116.57it/s]
2717it [00:24, 112.43it/s]
2729it [00:24, 109.98it/s]
2741it [00:24, 107.64it/s]
2752it [00:24, 108.24it/s]
2764it [00:24, 109.11it/s]
2775it [00:24, 100.05it/s]
2786it [00:24, 102.32it/s]
2798it [00:24, 106.27it/s]
2809it [00:24, 107.19it/s]
2820it [00:25, 106.50it/s]
2831it [00:25, 107.02it/s]
2843it [00:25, 109.96it/s]
2856it [00:25, 113.68it/s]
2868it [00:25, 111.07it/s]
2880it [00:25, 111.20it/s]
2892it [00:25, 108.93it/s]
2905it [00:25, 113.23it/s]
2917it [00:25, 111.42it/s]
2931it [00:26, 117.31it/s]
2943it [00:26, 117.65it/s]
2955it [00:26, 113.92it/s]
2968it [00:26, 117.84it/s]
2980it [00:26, 117.77it/s]
2993it [00:26, 118.37it/s]
3005it [00:26, 115.49it/s]
3017it [00:26, 114.60it/s]
3029it [00:26, 112.94it/s]
3041it [00:27, 114.40it/s]
3053it [00:27, 113.83it/s]
3065it [00:27, 109.93it/s]
3077it [00:27, 108.44it/s]
3088it [00:27, 108.87it/s]
3099it [00:27, 108.82it/s]
3110it [00:27, 107.22it/s]
3121it [00:27, 106.56it/s]
3132it [00:27, 104.33it/s]
3143it [00:27, 103.84it/s]
3154it [00:28, 102.94it/s]
3166it [00:28, 106.99it/s]
3177it [00:28, 107.01it/s]
3188it [00:28, 107.74it/s]
3201it [00:28, 109.89it/s]
3212it [00:28, 109.43it/s]
3225it [00:28, 113.85it/s]
3238it [00:28, 117.56it/s]
3250it [00:28, 117.50it/s]
3263it [00:29, 118.13it/s]
3276it [00:29, 119.91it/s]
3288it [00:29, 116.92it/s]
3300it [00:29, 112.57it/s]
3312it [00:29, 110.83it/s]
3324it [00:29, 111.52it/s]
3336it [00:29, 111.20it/s]
3348it [00:29, 111.28it/s]
3360it [00:29, 111.41it/s]
3372it [00:29, 111.96it/s]
3385it [00:30, 114.19it/s]
3397it [00:30, 109.37it/s]
3410it [00:30, 112.57it/s]
3423it [00:30, 114.26it/s]
3435it [00:30, 115.72it/s]
3447it [00:30, 112.57it/s]
3460it [00:30, 117.44it/s]
3472it [00:30, 116.14it/s]
3485it [00:30, 119.51it/s]
3498it [00:31, 120.75it/s]
3512it [00:31, 125.38it/s]
3525it [00:31, 124.37it/s]
3538it [00:31, 122.82it/s]
3552it [00:31, 125.77it/s]
3565it [00:31, 121.95it/s]
3578it [00:31, 119.62it/s]
3592it [00:31, 122.79it/s]
3607it [00:31, 129.04it/s]
3620it [00:32, 123.92it/s]
3634it [00:32, 126.65it/s]
3648it [00:32, 127.56it/s]
3661it [00:32, 125.95it/s]
3674it [00:32, 125.27it/s]
3687it [00:32, 121.18it/s]
3701it [00:32, 124.14it/s]
3714it [00:32, 125.24it/s]
3727it [00:32, 122.91it/s]
3741it [00:33, 125.69it/s]
3754it [00:33, 123.18it/s]
3767it [00:33, 115.94it/s]
3779it [00:33, 115.69it/s]
3791it [00:33, 116.67it/s]
3804it [00:33, 118.09it/s]
3817it [00:33, 117.58it/s]
3829it [00:33, 115.00it/s]
3841it [00:33, 112.52it/s]
3854it [00:34, 116.12it/s]
3866it [00:34, 115.07it/s]
3879it [00:34, 116.56it/s]
3891it [00:34, 116.06it/s]
3903it [00:34, 115.27it/s]
3916it [00:34, 118.54it/s]
3929it [00:34, 118.82it/s]
3941it [00:34, 118.52it/s]
3953it [00:34, 116.73it/s]
3967it [00:34, 121.75it/s]
3980it [00:35, 119.12it/s]
3994it [00:35, 124.22it/s]
4007it [00:35, 122.16it/s]
4020it [00:35, 120.52it/s]
4033it [00:35, 121.42it/s]
4046it [00:35, 122.14it/s]
4059it [00:35, 123.87it/s]
4072it [00:35, 121.78it/s]
4085it [00:35, 121.97it/s]
4098it [00:36, 121.26it/s]
4111it [00:36, 117.63it/s]
4123it [00:36, 116.90it/s]
4136it [00:36, 119.19it/s]
4149it [00:36, 120.67it/s]
4162it [00:36, 120.01it/s]
4176it [00:36, 124.27it/s]
4189it [00:36, 125.48it/s]
4202it [00:36, 122.57it/s]
4215it [00:36, 124.23it/s]
4228it [00:37, 123.58it/s]
4241it [00:37, 125.03it/s]
4254it [00:37, 123.13it/s]
4267it [00:37, 117.37it/s]
4279it [00:37, 114.62it/s]
4291it [00:37, 114.94it/s]
4303it [00:37, 113.85it/s]
4315it [00:37, 102.48it/s]
4327it [00:38, 102.83it/s]
4339it [00:38, 106.54it/s]
4350it [00:38, 106.69it/s]
4361it [00:38, 106.39it/s]
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Track data saved to /working/65b45fd2-877f-4bf8-8584-7f99e9b23ba6/processing/data/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/65b45fd2-877f-4bf8-8584-7f99e9b23ba6/processing/data/laser_aligned.ptd.cbor