+ [ true = true ]
+ echo --sonar
+ python -m profile_alignment --sonar --shape /working/shape.shape.json --write-shape /working/shape.json /working/e36e6bab-e09d-499a-ac98-32247f293872/processing/data/lidar.ptd.dat fit
2026-05-06T04:00:15 - INFO: Profile Alignment 0.0.30
2026-05-06T04:00:15 - INFO: Alignment track will be output to /working/e36e6bab-e09d-499a-ac98-32247f293872/processing/data
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
2026-05-06T04:00:15 - INFO: Input: /working/e36e6bab-e09d-499a-ac98-32247f293872/processing/data/lidar.ptd.dat
2026-05-06T04:00:15 - INFO: Sonar: True
2026-05-06T04:00:15 - INFO: Method: fit
2026-05-06T04:00:15 - INFO: Shape: /working/shape.shape.json
2026-05-06T04:00:15 - INFO: Shape info: /working/shape.json
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
2026-05-06T04:00:15 - INFO: Track format: json
 Reading PTD file in binary format...
 Completed!
=-=-=-=-=-Adding Sonar points -=-=-=-=-=-=-
2026-05-06T04:00:32 - INFO:  Reading sonar track took 0.2578392028808594 sec!
2026-05-06T04:00:32 - INFO:  Reading sonar alignment track took {0.005978107452392578} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
2026-05-06T04:00:32 - INFO:  Calculating the size for all frames ...
2026-05-06T04:00:38 - INFO:  200 frames are processed in <5.61> seconds. rate: 35.66 fp/s
2026-05-06T04:00:38 - INFO:  Median Scale of {200} frame found to be: {2.1604439608567425}
2026-05-06T04:00:38 - INFO: The selected reference shape JSON to: {/working/shape.json}
2026-05-06T04:00:38 - INFO:  Fit to reference shape ... 
Optimization failed for a frame: {ABNORMAL: }
2026-05-06T04:04:19 - INFO: {20740} frames are processed in {219.94} seconds. Rate: 94.30 fp/s
Track data saved to /working/e36e6bab-e09d-499a-ac98-32247f293872/processing/data/alignment.track.json
 Writing PTD file in binary format...           Completed!
 PTD file is written to: /working/e36e6bab-e09d-499a-ac98-32247f293872/processing/data/laser_aligned.ptd.dat