+ [ true = true ]
+ echo --sonar
+ python -m profile_alignment --sonar --shape /working/shape.shape.json --write-shape /working/shape.json /working/474706b3-d80d-488e-b0b2-bc80bfd64124/processing/data/lidar.ptd.dat fit
2026-05-06T05:42:11 - INFO: Profile Alignment 0.0.30
2026-05-06T05:42:11 - INFO: Alignment track will be output to /working/474706b3-d80d-488e-b0b2-bc80bfd64124/processing/data
2026-05-06T05:42:11 - INFO: Input: /working/474706b3-d80d-488e-b0b2-bc80bfd64124/processing/data/lidar.ptd.dat
2026-05-06T05:42:11 - INFO: Sonar: True
2026-05-06T05:42:11 - INFO: Method: fit
2026-05-06T05:42:11 - INFO: Shape: /working/shape.shape.json
2026-05-06T05:42:11 - INFO: Shape info: /working/shape.json
2026-05-06T05:42:11 - INFO: Track format: json
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
 Reading PTD file in binary format...
 Completed!
=-=-=-=-=-Adding Sonar points -=-=-=-=-=-=-
2026-05-06T05:42:46 - INFO:  Reading sonar track took 0.36508750915527344 sec!
2026-05-06T05:42:46 - INFO:  Reading sonar alignment track took {0.004715442657470703} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
2026-05-06T05:42:47 - INFO:  Calculating the size for all frames ...
2026-05-06T05:42:57 - INFO:  200 frames are processed in <10.46> seconds. rate: 19.13 fp/s
2026-05-06T05:42:57 - INFO:  Median Scale of {200} frame found to be: {4.50299340815802}
2026-05-06T05:42:57 - INFO: The selected reference shape JSON to: {/working/shape.json}
2026-05-06T05:42:57 - INFO:  Fit to reference shape ... 
Optimization failed for a frame: {ABNORMAL: }
2026-05-06T05:47:22 - INFO: {27218} frames are processed in {261.83} seconds. Rate: 103.95 fp/s
Track data saved to /working/474706b3-d80d-488e-b0b2-bc80bfd64124/processing/data/alignment.track.json
 Writing PTD file in binary format...           Completed!
 PTD file is written to: /working/474706b3-d80d-488e-b0b2-bc80bfd64124/processing/data/laser_aligned.ptd.dat