=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.9
Input file:  /working/24d153ff-9e40-4f53-a9d5-1ef72355091a/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 -=-=-=-=-=-=-
2025-12-22T02:41:56 - INFO:  Reading sonar track took 0.22620725631713867 sec!
2025-12-22T02:41:56 - INFO:  Reading sonar alignment track took {0.004455089569091797} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  2%|▏         | 3/200 [00:00<00:07, 27.24it/s]
  3%|▎         | 6/200 [00:00<00:07, 25.73it/s]
  4%|▍         | 9/200 [00:00<00:07, 26.27it/s]
  6%|▌         | 12/200 [00:00<00:07, 26.03it/s]
  8%|▊         | 15/200 [00:00<00:07, 24.74it/s]
  9%|▉         | 18/200 [00:00<00:07, 23.90it/s]
 10%|█         | 21/200 [00:00<00:07, 23.47it/s]
 12%|█▏        | 24/200 [00:00<00:07, 23.28it/s]
 14%|█▍        | 28/200 [00:01<00:06, 25.25it/s]
 16%|█▌        | 31/200 [00:01<00:06, 25.96it/s]
 17%|█▋        | 34/200 [00:01<00:06, 26.13it/s]
 18%|█▊        | 37/200 [00:01<00:06, 26.09it/s]
 20%|██        | 40/200 [00:01<00:06, 24.65it/s]
 22%|██▏       | 43/200 [00:01<00:06, 23.77it/s]
 23%|██▎       | 46/200 [00:01<00:06, 24.85it/s]
 24%|██▍       | 49/200 [00:01<00:06, 25.10it/s]
 26%|██▌       | 52/200 [00:02<00:06, 22.19it/s]
 28%|██▊       | 55/200 [00:02<00:06, 22.30it/s]
 29%|██▉       | 58/200 [00:02<00:06, 22.54it/s]
 30%|███       | 61/200 [00:02<00:05, 24.34it/s]
 32%|███▏      | 64/200 [00:02<00:05, 25.74it/s]
 34%|███▍      | 68/200 [00:02<00:05, 26.32it/s]
 36%|███▌      | 72/200 [00:02<00:04, 27.27it/s]
 38%|███▊      | 75/200 [00:02<00:04, 26.55it/s]
 39%|███▉      | 78/200 [00:03<00:04, 26.33it/s]
 41%|████      | 82/200 [00:03<00:04, 27.61it/s]
 43%|████▎     | 86/200 [00:03<00:03, 28.59it/s]
 45%|████▌     | 90/200 [00:03<00:03, 29.83it/s]
 46%|████▋     | 93/200 [00:03<00:03, 28.71it/s]
 48%|████▊     | 97/200 [00:03<00:03, 29.32it/s]
 50%|█████     | 100/200 [00:03<00:03, 28.57it/s]
 52%|█████▏    | 103/200 [00:03<00:03, 27.77it/s]
 53%|█████▎    | 106/200 [00:04<00:03, 26.38it/s]
 55%|█████▌    | 110/200 [00:04<00:03, 28.31it/s]
 56%|█████▋    | 113/200 [00:04<00:03, 28.08it/s]
 58%|█████▊    | 117/200 [00:04<00:03, 27.52it/s]
 60%|██████    | 120/200 [00:04<00:02, 27.11it/s]
 62%|██████▏   | 123/200 [00:04<00:02, 26.05it/s]
 63%|██████▎   | 126/200 [00:04<00:02, 26.76it/s]
 64%|██████▍   | 129/200 [00:04<00:02, 25.40it/s]
 66%|██████▌   | 132/200 [00:05<00:02, 26.21it/s]
 68%|██████▊   | 135/200 [00:05<00:02, 26.66it/s]
 69%|██████▉   | 138/200 [00:05<00:02, 26.06it/s]
 70%|███████   | 141/200 [00:05<00:02, 24.32it/s]
 72%|███████▏  | 144/200 [00:05<00:02, 25.01it/s]
 74%|███████▍  | 148/200 [00:05<00:01, 26.25it/s]
 76%|███████▌  | 151/200 [00:05<00:02, 24.08it/s]
 77%|███████▋  | 154/200 [00:05<00:01, 24.55it/s]
 79%|███████▉  | 158/200 [00:06<00:01, 25.93it/s]
 81%|████████  | 162/200 [00:06<00:01, 26.43it/s]
 82%|████████▎ | 165/200 [00:06<00:01, 24.79it/s]
 84%|████████▍ | 169/200 [00:06<00:01, 26.66it/s]
 86%|████████▌ | 172/200 [00:06<00:01, 27.44it/s]
 88%|████████▊ | 176/200 [00:06<00:00, 28.09it/s]
 90%|█████████ | 180/200 [00:06<00:00, 28.90it/s]
 92%|█████████▏| 183/200 [00:06<00:00, 29.03it/s]
 94%|█████████▎| 187/200 [00:07<00:00, 29.39it/s]
 96%|█████████▌| 191/200 [00:07<00:00, 30.67it/s]
 98%|█████████▊| 195/200 [00:07<00:00, 31.28it/s]
100%|█████████▉| 199/200 [00:07<00:00, 31.20it/s]
100%|██████████| 200/200 [00:07<00:00, 26.44it/s]
 Median Scale of 200 frame found to be: 0.6354050090741845
 Fit to reference shape: 

0it [00:00, ?it/s]
6it [00:00, 56.70it/s]
16it [00:00, 80.31it/s]
29it [00:00, 101.66it/s]
40it [00:00, 103.66it/s]
52it [00:00, 107.05it/s]
64it [00:00, 110.34it/s]
78it [00:00, 117.37it/s]
91it [00:00, 117.05it/s]
103it [00:00, 116.30it/s]
116it [00:01, 117.13it/s]
128it [00:01, 115.11it/s]
140it [00:01, 115.12it/s]
152it [00:01, 116.37it/s]
165it [00:01, 118.62it/s]
177it [00:01, 115.85it/s]
189it [00:01, 116.59it/s]
201it [00:01, 111.28it/s]
214it [00:01, 114.79it/s]
226it [00:02, 116.07it/s]
239it [00:02, 119.59it/s]
252it [00:02, 122.37it/s]
265it [00:02, 121.54it/s]
278it [00:02, 118.84it/s]
290it [00:02, 118.31it/s]
302it [00:02, 112.75it/s]
316it [00:02, 118.07it/s]
328it [00:02, 117.99it/s]
341it [00:02, 119.86it/s]
354it [00:03, 121.72it/s]
368it [00:03, 124.71it/s]
381it [00:03, 118.10it/s]
395it [00:03, 123.68it/s]
408it [00:03, 123.95it/s]
421it [00:03, 124.96it/s]
434it [00:03, 125.94it/s]
447it [00:03, 125.38it/s]
460it [00:03, 123.71it/s]
473it [00:04, 123.85it/s]
486it [00:04, 123.55it/s]
499it [00:04, 124.79it/s]
512it [00:04, 119.06it/s]
526it [00:04, 121.93it/s]
540it [00:04, 124.49it/s]
553it [00:04, 120.08it/s]
566it [00:04, 121.09it/s]
579it [00:04, 122.47it/s]
592it [00:05, 122.94it/s]
605it [00:05, 120.07it/s]
618it [00:05, 116.77it/s]
632it [00:05, 121.11it/s]
645it [00:05, 120.58it/s]
658it [00:05, 120.74it/s]
671it [00:05, 122.53it/s]
685it [00:05, 127.15it/s]
698it [00:05, 127.38it/s]
711it [00:05, 119.93it/s]
725it [00:06, 123.91it/s]
738it [00:06, 120.79it/s]
751it [00:06, 122.58it/s]
764it [00:06, 122.59it/s]
778it [00:06, 124.79it/s]
792it [00:06, 126.91it/s]
805it [00:06, 126.89it/s]
818it [00:06, 125.80it/s]
832it [00:06, 126.98it/s]
845it [00:07, 124.69it/s]
859it [00:07, 126.26it/s]
872it [00:07, 123.74it/s]
885it [00:07, 121.83it/s]
898it [00:07, 122.28it/s]
911it [00:07, 122.17it/s]
924it [00:07, 122.67it/s]
938it [00:07, 125.89it/s]
951it [00:07, 122.74it/s]
965it [00:08, 125.94it/s]
978it [00:08, 125.08it/s]
991it [00:08, 117.73it/s]
1004it [00:08, 118.55it/s]
1018it [00:08, 121.68it/s]
1032it [00:08, 125.67it/s]
1045it [00:08, 120.68it/s]
1058it [00:08, 118.35it/s]
1070it [00:08, 117.20it/s]
1083it [00:09, 118.83it/s]
1095it [00:09, 116.30it/s]
1108it [00:09, 118.06it/s]
1120it [00:09, 117.68it/s]
1132it [00:09, 117.89it/s]
1144it [00:09, 118.20it/s]
1156it [00:09, 115.56it/s]
1169it [00:09, 117.49it/s]
1182it [00:09, 120.34it/s]
1195it [00:09, 121.28it/s]
1209it [00:10, 123.54it/s]
1222it [00:10, 125.35it/s]
1235it [00:10, 119.66it/s]
1248it [00:10, 117.02it/s]
1261it [00:10, 118.83it/s]
1275it [00:10, 122.13it/s]
1288it [00:10, 117.76it/s]
1301it [00:10, 120.69it/s]
1315it [00:10, 122.92it/s]
1328it [00:11, 122.39it/s]
1341it [00:11, 120.95it/s]
1354it [00:11, 116.11it/s]
1367it [00:11, 117.54it/s]
1379it [00:11, 118.16it/s]
1391it [00:11, 116.15it/s]
1404it [00:11, 117.32it/s]
1417it [00:11, 118.64it/s]
1430it [00:11, 120.44it/s]
1443it [00:12, 122.79it/s]
1456it [00:12, 122.78it/s]
1469it [00:12, 124.16it/s]
1482it [00:12, 124.86it/s]
1496it [00:12, 128.18it/s]
1509it [00:12, 126.26it/s]
1522it [00:12, 124.28it/s]
1536it [00:12, 128.57it/s]
1550it [00:12, 130.45it/s]
1564it [00:12, 130.46it/s]
1578it [00:13, 130.68it/s]
1593it [00:13, 134.08it/s]
1607it [00:13, 134.01it/s]
1621it [00:13, 133.94it/s]
1635it [00:13, 131.39it/s]
1649it [00:13, 131.15it/s]
1663it [00:13, 121.65it/s]
1676it [00:13, 118.91it/s]
1690it [00:13, 122.53it/s]
1703it [00:14, 121.42it/s]
1716it [00:14, 123.45it/s]
1729it [00:14, 124.43it/s]
1742it [00:14, 123.06it/s]
1755it [00:14, 122.39it/s]
1768it [00:14, 116.22it/s]
1780it [00:14, 115.95it/s]
1794it [00:14, 120.28it/s]
1807it [00:14, 115.52it/s]
1819it [00:15, 116.14it/s]
1832it [00:15, 119.78it/s]
1845it [00:15, 120.64it/s]
1858it [00:15, 122.40it/s]
1871it [00:15, 123.92it/s]
1885it [00:15, 125.46it/s]
1898it [00:15, 126.26it/s]
1911it [00:15, 123.53it/s]
1924it [00:15, 118.99it/s]
1937it [00:16, 119.11it/s]
1949it [00:16, 118.53it/s]
1961it [00:16, 109.42it/s]
1973it [00:16, 109.04it/s]
1984it [00:16, 105.41it/s]
1996it [00:16, 107.95it/s]
2007it [00:16, 105.37it/s]
2018it [00:16, 101.61it/s]
2029it [00:16, 95.10it/s] 
2039it [00:17, 94.41it/s]
2049it [00:17, 93.88it/s]
2059it [00:17, 94.14it/s]
2069it [00:17, 92.80it/s]
2080it [00:17, 95.99it/s]
2092it [00:17, 101.51it/s]
2103it [00:17, 102.76it/s]
2114it [00:17, 97.42it/s] 
2124it [00:17, 94.62it/s]
2135it [00:18, 97.70it/s]
2147it [00:18, 101.25it/s]
2161it [00:18, 108.99it/s]
2174it [00:18, 114.58it/s]
2186it [00:18, 115.24it/s]
2200it [00:18, 120.29it/s]
2214it [00:18, 125.49it/s]
2227it [00:18, 124.09it/s]
2240it [00:18, 125.68it/s]
2253it [00:18, 125.37it/s]
2266it [00:19, 126.33it/s]
2279it [00:19, 125.96it/s]
2292it [00:19, 123.59it/s]
2305it [00:19, 121.81it/s]
2318it [00:19, 121.43it/s]
2331it [00:19, 122.53it/s]
2344it [00:19, 123.45it/s]
2357it [00:19, 119.36it/s]
2369it [00:19, 113.06it/s]
2381it [00:20, 112.62it/s]
2393it [00:20, 107.58it/s]
2404it [00:20, 106.86it/s]
2417it [00:20, 109.09it/s]
2429it [00:20, 109.70it/s]
2441it [00:20, 110.60it/s]
2453it [00:20, 110.96it/s]
2465it [00:20, 109.17it/s]
2476it [00:20, 105.24it/s]
2487it [00:21, 100.70it/s]
2499it [00:21, 105.09it/s]
2510it [00:21, 105.91it/s]
2521it [00:21, 102.98it/s]
2533it [00:21, 107.36it/s]
2544it [00:21, 107.34it/s]
2556it [00:21, 108.94it/s]
2567it [00:21, 106.79it/s]
2580it [00:21, 112.26it/s]
2592it [00:22, 113.01it/s]
2605it [00:22, 116.30it/s]
2621it [00:22, 127.82it/s]
2634it [00:22, 126.04it/s]
2647it [00:22, 125.73it/s]
2661it [00:22, 128.85it/s]
2674it [00:22, 124.65it/s]
2687it [00:22, 125.19it/s]
2700it [00:22, 120.56it/s]
2713it [00:22, 120.07it/s]
2726it [00:23, 119.23it/s]
2738it [00:23, 119.10it/s]
2750it [00:23, 112.76it/s]
2762it [00:23, 113.22it/s]
2774it [00:23, 107.44it/s]
2785it [00:23, 102.33it/s]
2796it [00:23, 98.48it/s] 
2806it [00:23, 98.52it/s]
2816it [00:23, 98.63it/s]
2826it [00:24, 97.89it/s]
2838it [00:24, 101.32it/s]
2850it [00:24, 103.34it/s]
2861it [00:24, 97.59it/s] 
2871it [00:24, 93.40it/s]
2883it [00:24, 98.26it/s]
2893it [00:24, 94.70it/s]
2904it [00:24, 98.43it/s]
2916it [00:24, 102.03it/s]
2928it [00:25, 106.57it/s]
2939it [00:25, 103.15it/s]
2951it [00:25, 106.16it/s]
2963it [00:25, 109.28it/s]
2976it [00:25, 114.97it/s]
2989it [00:25, 116.05it/s]
3001it [00:25, 116.69it/s]
3014it [00:25, 118.78it/s]
3027it [00:25, 121.97it/s]
3040it [00:26, 119.98it/s]
3053it [00:26, 121.71it/s]
3066it [00:26, 120.75it/s]
3080it [00:26, 123.90it/s]
3093it [00:26, 121.44it/s]
3106it [00:26, 120.93it/s]
3119it [00:26, 112.85it/s]
3132it [00:26, 115.37it/s]
3144it [00:26, 114.13it/s]
3156it [00:27, 114.11it/s]
3168it [00:27, 111.31it/s]
3181it [00:27, 116.08it/s]
3194it [00:27, 117.34it/s]
3206it [00:27, 115.90it/s]
3218it [00:27, 114.34it/s]
3230it [00:27, 115.70it/s]
3244it [00:27, 122.05it/s]
3257it [00:27, 120.00it/s]
3270it [00:28, 120.26it/s]
3284it [00:28, 125.26it/s]
3297it [00:28, 123.48it/s]
3310it [00:28, 124.59it/s]
3323it [00:28, 124.48it/s]
3336it [00:28, 124.90it/s]
3349it [00:28, 125.02it/s]
3362it [00:28, 125.52it/s]
3375it [00:28, 126.39it/s]
3389it [00:28, 129.38it/s]
3402it [00:29, 127.78it/s]
3415it [00:29, 123.39it/s]
3429it [00:29, 126.28it/s]
3442it [00:29, 125.16it/s]
3455it [00:29, 125.41it/s]
3468it [00:29, 125.94it/s]
3481it [00:29, 121.65it/s]
3494it [00:29, 123.19it/s]
3507it [00:29, 118.85it/s]
3520it [00:30, 120.43it/s]
3534it [00:30, 125.22it/s]
3548it [00:30, 125.82it/s]
3562it [00:30, 129.76it/s]
3576it [00:30, 130.53it/s]
3591it [00:30, 133.55it/s]
3605it [00:30, 133.56it/s]
3619it [00:30, 130.17it/s]
3633it [00:30, 130.26it/s]
3647it [00:30, 131.64it/s]
3661it [00:31, 131.53it/s]
3675it [00:31, 131.20it/s]
3689it [00:31, 129.62it/s]
3702it [00:31, 118.90it/s]
3715it [00:31, 120.37it/s]
3728it [00:31, 120.70it/s]
3741it [00:31, 112.46it/s]
3755it [00:31, 119.29it/s]
3768it [00:32, 110.87it/s]
3780it [00:32, 103.52it/s]
3791it [00:32, 97.80it/s] 
3801it [00:32, 92.25it/s]
3811it [00:32, 90.95it/s]
3821it [00:32, 85.98it/s]
3830it [00:32, 80.12it/s]
3839it [00:32, 81.48it/s]
3849it [00:32, 84.56it/s]
3859it [00:33, 87.16it/s]
3868it [00:33, 82.13it/s]
3877it [00:33, 82.25it/s]
3886it [00:33, 83.15it/s]
3895it [00:33, 84.15it/s]
3904it [00:33, 83.40it/s]
3913it [00:33, 84.72it/s]
3923it [00:33, 88.55it/s]
3932it [00:33, 84.10it/s]
3941it [00:34, 83.41it/s]
3950it [00:34, 80.64it/s]
3959it [00:34, 82.53it/s]
3968it [00:34, 84.45it/s]
3977it [00:34, 81.20it/s]
3987it [00:34, 85.59it/s]
3996it [00:34, 84.94it/s]
4005it [00:34, 80.43it/s]
4014it [00:34, 78.93it/s]
4022it [00:35, 78.98it/s]
4031it [00:35, 79.94it/s]
4040it [00:35, 78.16it/s]
4048it [00:35, 75.57it/s]
4058it [00:35, 80.87it/s]
4071it [00:35, 92.27it/s]
4082it [00:35, 93.78it/s]
4094it [00:35, 100.14it/s]
4105it [00:35, 102.74it/s]
4117it [00:36, 106.94it/s]
4129it [00:36, 109.23it/s]
4140it [00:36, 109.34it/s]
4152it [00:36, 110.64it/s]
4165it [00:36, 115.13it/s]
4178it [00:36, 117.09it/s]
4192it [00:36, 121.29it/s]
4206it [00:36, 125.23it/s]
4219it [00:36, 121.88it/s]
4232it [00:37, 119.41it/s]
4245it [00:37, 121.53it/s]
4258it [00:37, 117.77it/s]
4272it [00:37, 122.29it/s]
4285it [00:37, 117.81it/s]
4297it [00:37, 116.70it/s]
4309it [00:37, 107.96it/s]
4320it [00:37, 103.01it/s]
4332it [00:37, 107.52it/s]
4344it [00:38, 110.56it/s]
4357it [00:38, 114.18it/s]
4370it [00:38, 116.09it/s]
4382it [00:38, 110.94it/s]
4394it [00:38, 112.43it/s]
4406it [00:38, 113.25it/s]
4418it [00:38, 113.23it/s]
4432it [00:38, 120.47it/s]
4445it [00:38, 120.77it/s]
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Track data saved to /working/24d153ff-9e40-4f53-a9d5-1ef72355091a/processing/data/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/24d153ff-9e40-4f53-a9d5-1ef72355091a/processing/data/laser_aligned.ptd.cbor