=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.6
Input file:  /working/c3465dfb-3d4a-4e71-9355-e32999405c2d/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 -=-=-=-=-=-=-
2025-12-01T00:19:19 - INFO:  Reading sonar track took 0.1912064552307129 sec!
2025-12-01T00:19:19 - INFO:  Reading sonar alignment track took {0.007415056228637695} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  0%|          | 1/200 [00:00<00:20,  9.89it/s]
  2%|▏         | 4/200 [00:00<00:10, 18.43it/s]
  4%|▎         | 7/200 [00:00<00:09, 20.46it/s]
  6%|▌         | 11/200 [00:00<00:08, 23.00it/s]
  7%|▋         | 14/200 [00:00<00:07, 23.53it/s]
  8%|▊         | 17/200 [00:00<00:07, 24.64it/s]
 10%|█         | 20/200 [00:00<00:07, 23.82it/s]
 12%|█▏        | 23/200 [00:01<00:07, 23.04it/s]
 13%|█▎        | 26/200 [00:01<00:07, 22.89it/s]
 14%|█▍        | 29/200 [00:01<00:07, 22.27it/s]
 16%|█▌        | 32/200 [00:01<00:07, 23.59it/s]
 18%|█▊        | 35/200 [00:01<00:07, 22.32it/s]
 19%|█▉        | 38/200 [00:01<00:07, 23.13it/s]
 20%|██        | 41/200 [00:01<00:07, 22.64it/s]
 22%|██▏       | 44/200 [00:01<00:06, 22.60it/s]
 24%|██▎       | 47/200 [00:02<00:06, 22.68it/s]
 25%|██▌       | 50/200 [00:02<00:06, 22.42it/s]
 26%|██▋       | 53/200 [00:02<00:06, 21.96it/s]
 28%|██▊       | 56/200 [00:02<00:06, 22.80it/s]
 30%|██▉       | 59/200 [00:02<00:06, 23.24it/s]
 31%|███       | 62/200 [00:02<00:05, 24.41it/s]
 32%|███▎      | 65/200 [00:02<00:05, 23.10it/s]
 34%|███▍      | 68/200 [00:02<00:05, 24.02it/s]
 36%|███▌      | 71/200 [00:03<00:05, 22.05it/s]
 37%|███▋      | 74/200 [00:03<00:05, 22.18it/s]
 38%|███▊      | 77/200 [00:03<00:05, 22.06it/s]
 40%|████      | 80/200 [00:03<00:05, 20.72it/s]
 42%|████▏     | 83/200 [00:03<00:05, 21.99it/s]
 43%|████▎     | 86/200 [00:03<00:04, 22.90it/s]
 44%|████▍     | 89/200 [00:03<00:04, 23.16it/s]
 46%|████▌     | 92/200 [00:04<00:04, 22.10it/s]
 48%|████▊     | 95/200 [00:04<00:04, 21.94it/s]
 49%|████▉     | 98/200 [00:04<00:04, 23.06it/s]
 50%|█████     | 101/200 [00:04<00:04, 23.10it/s]
 52%|█████▏    | 104/200 [00:04<00:04, 23.54it/s]
 54%|█████▎    | 107/200 [00:04<00:03, 23.91it/s]
 55%|█████▌    | 110/200 [00:04<00:03, 22.53it/s]
 56%|█████▋    | 113/200 [00:04<00:03, 22.90it/s]
 58%|█████▊    | 116/200 [00:05<00:03, 23.16it/s]
 60%|█████▉    | 119/200 [00:05<00:03, 22.68it/s]
 61%|██████    | 122/200 [00:05<00:03, 22.71it/s]
 62%|██████▎   | 125/200 [00:05<00:03, 23.97it/s]
 64%|██████▍   | 128/200 [00:05<00:03, 23.47it/s]
 66%|██████▌   | 131/200 [00:05<00:02, 23.25it/s]
 67%|██████▋   | 134/200 [00:05<00:03, 20.90it/s]
 68%|██████▊   | 137/200 [00:06<00:02, 21.91it/s]
 70%|███████   | 140/200 [00:06<00:02, 23.61it/s]
 72%|███████▏  | 143/200 [00:06<00:02, 23.67it/s]
 73%|███████▎  | 146/200 [00:06<00:02, 22.59it/s]
 74%|███████▍  | 149/200 [00:06<00:02, 22.28it/s]
 76%|███████▌  | 152/200 [00:06<00:02, 23.23it/s]
 78%|███████▊  | 155/200 [00:06<00:02, 22.33it/s]
 79%|███████▉  | 158/200 [00:06<00:01, 21.81it/s]
 80%|████████  | 161/200 [00:07<00:01, 22.42it/s]
 82%|████████▏ | 164/200 [00:07<00:01, 21.27it/s]
 84%|████████▎ | 167/200 [00:07<00:01, 21.36it/s]
 85%|████████▌ | 170/200 [00:07<00:01, 21.14it/s]
 86%|████████▋ | 173/200 [00:07<00:01, 21.66it/s]
 88%|████████▊ | 176/200 [00:07<00:01, 22.46it/s]
 90%|████████▉ | 179/200 [00:07<00:00, 21.82it/s]
 91%|█████████ | 182/200 [00:08<00:00, 23.31it/s]
 92%|█████████▎| 185/200 [00:08<00:00, 23.51it/s]
 94%|█████████▍| 188/200 [00:08<00:00, 24.24it/s]
 96%|█████████▌| 191/200 [00:08<00:00, 23.88it/s]
 97%|█████████▋| 194/200 [00:08<00:00, 22.03it/s]
 98%|█████████▊| 197/200 [00:08<00:00, 22.14it/s]
 98%|█████████▊| 197/200 [00:19<00:00, 22.14it/s]
100%|██████████| 200/200 [06:26<00:00, 37.83s/it]
100%|██████████| 200/200 [06:26<00:00,  1.93s/it]
 Median Scale of 200 frame found to be: 1.3001812162050987
 Fit to reference shape: 

0it [00:00, ?it/s]
3it [00:00, 26.63it/s]
7it [00:00, 30.60it/s]
12it [00:00, 36.29it/s]
18it [00:00, 41.60it/s]
23it [00:00, 41.92it/s]
29it [00:00, 46.54it/s]
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54it [00:01, 73.46it/s]
63it [00:01, 74.70it/s]
71it [00:01, 74.62it/s]
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109it [00:01, 88.02it/s]
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158it [00:02, 85.76it/s]
167it [00:02, 80.57it/s]
177it [00:02, 82.32it/s]
186it [00:02, 75.72it/s]
194it [00:02, 69.71it/s]
202it [00:02, 70.99it/s]
213it [00:02, 79.42it/s]
224it [00:03, 86.63it/s]
233it [00:03, 84.10it/s]
243it [00:03, 86.46it/s]
252it [00:03, 85.36it/s]
262it [00:03, 88.21it/s]
271it [00:03, 83.38it/s]
280it [00:03, 83.26it/s]
291it [00:03, 90.45it/s]
302it [00:03, 94.38it/s]
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322it [00:04, 87.63it/s]
333it [00:04, 90.51it/s]
343it [00:04, 91.31it/s]
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362it [00:04, 86.69it/s]
371it [00:04, 82.64it/s]
382it [00:04, 89.91it/s]
392it [00:04, 91.01it/s]
402it [00:05, 87.13it/s]
411it [00:05, 83.82it/s]
420it [00:05, 77.28it/s]
428it [00:05, 73.82it/s]
436it [00:05, 70.71it/s]
445it [00:05, 74.73it/s]
454it [00:05, 77.37it/s]
462it [00:05, 76.32it/s]
471it [00:06, 79.75it/s]
480it [00:06, 73.43it/s]
489it [00:06, 76.83it/s]
499it [00:06, 81.96it/s]
509it [00:06, 84.37it/s]
521it [00:06, 93.18it/s]
532it [00:06, 96.20it/s]
542it [00:06, 96.47it/s]
552it [00:06, 96.04it/s]
563it [00:07, 93.77it/s]
573it [00:07, 94.28it/s]
584it [00:07, 97.44it/s]
594it [00:07, 90.79it/s]
604it [00:07, 89.56it/s]
614it [00:07, 85.79it/s]
624it [00:07, 87.78it/s]
635it [00:07, 93.21it/s]
645it [00:07, 91.57it/s]
655it [00:08, 89.13it/s]
665it [00:08, 88.32it/s]
676it [00:08, 93.06it/s]
686it [00:08, 91.15it/s]
696it [00:08, 82.98it/s]
706it [00:08, 86.68it/s]
715it [00:08, 86.25it/s]
728it [00:08, 97.08it/s]
738it [00:09, 87.49it/s]
748it [00:09, 87.66it/s]
759it [00:09, 89.98it/s]
769it [00:09, 90.82it/s]
779it [00:09, 83.30it/s]
789it [00:09, 86.51it/s]
798it [00:09, 81.84it/s]
807it [00:09, 83.87it/s]
816it [00:09, 82.75it/s]
825it [00:10, 84.07it/s]
834it [00:10, 80.16it/s]
844it [00:10, 82.13it/s]
853it [00:10, 80.16it/s]
862it [00:10, 78.07it/s]
870it [00:10, 78.56it/s]
880it [00:10, 84.35it/s]
889it [00:10, 78.40it/s]
897it [00:10, 76.73it/s]
906it [00:11, 80.02it/s]
915it [00:11, 81.58it/s]
924it [00:11, 83.59it/s]
933it [00:11, 76.04it/s]
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951it [00:11, 81.64it/s]
961it [00:11, 81.76it/s]
970it [00:11, 83.94it/s]
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990it [00:12, 89.16it/s]
1000it [00:12, 91.03it/s]
1010it [00:12, 88.87it/s]
1021it [00:12, 93.71it/s]
1032it [00:12, 96.17it/s]
1042it [00:12, 96.18it/s]
1052it [00:12, 95.10it/s]
1062it [00:12, 91.15it/s]
1073it [00:12, 95.02it/s]
1083it [00:13, 93.10it/s]
1093it [00:13, 91.90it/s]
1105it [00:13, 94.99it/s]
1115it [00:13, 92.56it/s]
1125it [00:13, 90.30it/s]
1135it [00:13, 89.49it/s]
1144it [00:13, 80.90it/s]
1156it [00:13, 90.96it/s]
1166it [00:14, 83.80it/s]
1176it [00:14, 86.30it/s]
1187it [00:14, 90.87it/s]
1198it [00:14, 94.26it/s]
1208it [00:14, 94.99it/s]
1218it [00:14, 94.22it/s]
1228it [00:14, 92.63it/s]
1238it [00:14, 90.58it/s]
1248it [00:14, 91.49it/s]
1259it [00:14, 95.86it/s]
1269it [00:15, 91.36it/s]
1279it [00:15, 92.21it/s]
1289it [00:15, 87.40it/s]
1298it [00:15, 86.73it/s]
1309it [00:15, 87.76it/s]
1318it [00:15, 82.54it/s]
1330it [00:15, 87.47it/s]
1339it [00:15, 87.94it/s]
1348it [00:16, 81.91it/s]
1358it [00:16, 85.10it/s]
1368it [00:16, 88.01it/s]
1377it [00:16, 86.68it/s]
1387it [00:16, 88.91it/s]
1396it [00:16, 79.12it/s]
1405it [00:16, 71.51it/s]
1415it [00:16, 76.44it/s]
1423it [00:16, 76.20it/s]
1431it [00:17, 76.33it/s]
1441it [00:17, 81.44it/s]
1450it [00:17, 82.68it/s]
1461it [00:17, 88.42it/s]
1470it [00:17, 86.79it/s]
1481it [00:17, 89.39it/s]
1490it [00:17, 86.31it/s]
1499it [00:17, 85.00it/s]
1508it [00:17, 83.18it/s]
1518it [00:18, 86.60it/s]
1528it [00:18, 87.79it/s]
1537it [00:18, 86.80it/s]
1546it [00:18, 86.93it/s]
1555it [00:18, 85.70it/s]
1564it [00:18, 76.78it/s]
1574it [00:18, 80.87it/s]
1586it [00:18, 88.13it/s]
1596it [00:18, 89.55it/s]
1606it [00:19, 79.61it/s]
1616it [00:19, 83.28it/s]
1625it [00:19, 83.67it/s]
1636it [00:19, 89.13it/s]
1646it [00:19, 90.83it/s]
1659it [00:19, 98.60it/s]
1669it [00:19, 94.32it/s]
1679it [00:19, 93.17it/s]
1689it [00:19, 94.29it/s]
1699it [00:20, 95.53it/s]
1709it [00:20, 88.98it/s]
1721it [00:20, 94.87it/s]
1732it [00:20, 97.02it/s]
1745it [00:20, 104.27it/s]
1756it [00:20, 96.27it/s] 
1766it [00:20, 86.57it/s]
1775it [00:20, 84.56it/s]
1786it [00:21, 89.19it/s]
1797it [00:21, 93.10it/s]
1809it [00:21, 95.56it/s]
1819it [00:21, 93.81it/s]
1829it [00:21, 90.92it/s]
1841it [00:21, 96.23it/s]
1851it [00:21, 91.77it/s]
1861it [00:21, 91.13it/s]
1871it [00:21, 89.04it/s]
1883it [00:22, 95.72it/s]
1893it [00:22, 90.03it/s]
1906it [00:22, 99.13it/s]
1917it [00:22, 96.58it/s]
1927it [00:22, 93.59it/s]
1937it [00:22, 94.90it/s]
1948it [00:22, 97.04it/s]
1958it [00:22, 95.10it/s]
1968it [00:22, 92.39it/s]
1978it [00:23, 87.93it/s]
1989it [00:23, 93.18it/s]
1999it [00:23, 94.30it/s]
2010it [00:23, 96.59it/s]
2020it [00:23, 92.53it/s]
2031it [00:23, 95.76it/s]
2045it [00:23, 106.66it/s]
2056it [00:23, 102.93it/s]
2067it [00:24, 93.65it/s] 
2078it [00:24, 96.47it/s]
2090it [00:24, 100.81it/s]
2102it [00:24, 104.36it/s]
2113it [00:24, 102.52it/s]
2124it [00:24, 95.89it/s] 
2134it [00:24, 96.35it/s]
2144it [00:24, 97.21it/s]
2155it [00:24, 100.06it/s]
2166it [00:25, 97.13it/s] 
2176it [00:25, 96.83it/s]
2186it [00:25, 96.77it/s]
2196it [00:25, 94.04it/s]
2206it [00:25, 84.72it/s]
2216it [00:25, 84.54it/s]
2225it [00:25, 77.26it/s]
2234it [00:25, 79.77it/s]
2245it [00:25, 86.08it/s]
2255it [00:26, 88.71it/s]
2265it [00:26, 89.69it/s]
2276it [00:26, 93.82it/s]
2286it [00:26, 85.12it/s]
2296it [00:26, 87.74it/s]
2307it [00:26, 92.71it/s]
2320it [00:26, 101.89it/s]
2331it [00:26, 94.60it/s] 
2341it [00:26, 92.54it/s]
2351it [00:27, 85.00it/s]
2363it [00:27, 93.65it/s]
2374it [00:27, 93.93it/s]
2384it [00:27, 91.33it/s]
2394it [00:27, 85.94it/s]
2404it [00:27, 88.32it/s]
2415it [00:27, 93.26it/s]
2427it [00:27, 99.72it/s]
2438it [00:28, 97.88it/s]
2448it [00:28, 90.76it/s]
2458it [00:28, 85.51it/s]
2469it [00:28, 89.16it/s]
2479it [00:28, 90.49it/s]
2489it [00:28, 91.98it/s]
2499it [00:28, 92.13it/s]
2509it [00:28, 93.87it/s]
2521it [00:28, 98.95it/s]
2531it [00:29, 88.91it/s]
2541it [00:29, 84.90it/s]
2550it [00:29, 84.40it/s]
2559it [00:29, 84.26it/s]
2569it [00:29, 86.41it/s]
2580it [00:29, 92.69it/s]
2590it [00:29, 92.27it/s]
2600it [00:29, 91.42it/s]
2612it [00:29, 97.10it/s]
2625it [00:30, 105.91it/s]
2636it [00:30, 100.84it/s]
2647it [00:30, 89.03it/s] 
2657it [00:30, 86.90it/s]
2666it [00:30, 87.35it/s]
2675it [00:30, 87.18it/s]
2685it [00:30, 89.70it/s]
2695it [00:30, 91.16it/s]
2707it [00:30, 99.08it/s]
2718it [00:31, 101.16it/s]
2731it [00:31, 108.41it/s]
2742it [00:31, 92.99it/s] 
2753it [00:31, 96.30it/s]
2763it [00:31, 94.91it/s]
2773it [00:31, 94.23it/s]
2785it [00:31, 99.22it/s]
2796it [00:31, 99.24it/s]
2807it [00:32, 90.87it/s]
2817it [00:32, 89.71it/s]
2827it [00:32, 90.53it/s]
2837it [00:32, 92.15it/s]
2847it [00:32, 87.32it/s]
2858it [00:32, 93.34it/s]
2869it [00:32, 94.81it/s]
2880it [00:32, 98.44it/s]
2892it [00:32, 103.39it/s]
2903it [00:33, 94.85it/s] 
2914it [00:33, 97.01it/s]
2924it [00:33, 93.53it/s]
2934it [00:33, 88.96it/s]
2946it [00:33, 91.33it/s]
2956it [00:33, 93.00it/s]
2966it [00:33, 91.04it/s]
2976it [00:33, 87.36it/s]
2985it [00:33, 85.56it/s]
2994it [00:34, 84.14it/s]
3003it [00:34, 85.12it/s]
3012it [00:34, 86.25it/s]
3021it [00:34, 83.39it/s]
3032it [00:34, 89.56it/s]
3042it [00:34, 85.74it/s]
3051it [00:34, 82.78it/s]
3062it [00:34, 89.33it/s]
3073it [00:34, 94.19it/s]
3083it [00:35, 94.78it/s]
3093it [00:35, 92.41it/s]
3104it [00:35, 94.81it/s]
3114it [00:35, 93.21it/s]
3124it [00:35, 92.66it/s]
3134it [00:35, 93.52it/s]
3146it [00:35, 99.47it/s]
3156it [00:35, 91.38it/s]
3166it [00:35, 84.72it/s]
3175it [00:36, 85.36it/s]
3184it [00:36, 84.76it/s]
3193it [00:36, 85.89it/s]
3202it [00:36, 80.43it/s]
3212it [00:36, 85.10it/s]
3221it [00:36, 84.76it/s]
3232it [00:36, 89.89it/s]
3242it [00:36, 92.72it/s]
3252it [00:36, 92.30it/s]
3266it [00:37, 103.08it/s]
3277it [00:37, 97.52it/s] 
3288it [00:37, 96.77it/s]
3298it [00:37, 97.55it/s]
3308it [00:37, 90.38it/s]
3318it [00:37, 87.15it/s]
3327it [00:37, 81.06it/s]
3337it [00:37, 81.81it/s]
3347it [00:38, 85.60it/s]
3356it [00:38, 85.53it/s]
3367it [00:38, 90.91it/s]
3377it [00:38, 89.70it/s]
3388it [00:38, 93.64it/s]
3398it [00:38, 89.74it/s]
3409it [00:38, 92.81it/s]
3419it [00:38, 85.11it/s]
3428it [00:38, 83.44it/s]
3437it [00:39, 76.44it/s]
3448it [00:39, 83.89it/s]
3457it [00:39, 82.93it/s]
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Track data saved to /working/c3465dfb-3d4a-4e71-9355-e32999405c2d/processing/data/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/c3465dfb-3d4a-4e71-9355-e32999405c2d/processing/data/laser_aligned.ptd.cbor