+ [ true = true ]
+ echo --sonar
+ python -m profile_alignment --sonar --shape /working/shape.shape.json --write-shape /working/shape.json /working/79aa1111-e3d9-4bb0-ac7b-251745de0001/processing/data/lidar.ptd.dat fit
2026-05-06T11:09:26 - INFO: Profile Alignment 0.0.30
2026-05-06T11:09:26 - INFO: Alignment track will be output to /working/79aa1111-e3d9-4bb0-ac7b-251745de0001/processing/data
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
2026-05-06T11:09:26 - INFO: Input: /working/79aa1111-e3d9-4bb0-ac7b-251745de0001/processing/data/lidar.ptd.dat
2026-05-06T11:09:26 - INFO: Sonar: True
2026-05-06T11:09:26 - INFO: Method: fit
2026-05-06T11:09:26 - INFO: Shape: /working/shape.shape.json
2026-05-06T11:09:26 - INFO: Shape info: /working/shape.json
2026-05-06T11:09:26 - INFO: Track format: json
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
 Reading PTD file in binary format...
 Completed!
=-=-=-=-=-Adding Sonar points -=-=-=-=-=-=-
2026-05-06T11:10:06 - INFO:  Reading sonar track took 0.5990917682647705 sec!
2026-05-06T11:10:06 - INFO:  Reading sonar alignment track took {0.0008051395416259766} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
2026-05-06T11:10:07 - INFO:  Calculating the size for all frames ...
2026-05-06T11:10:13 - INFO:  200 frames are processed in <6.05> seconds. rate: 33.07 fp/s
2026-05-06T11:10:13 - INFO:  Median Scale of {200} frame found to be: {2.1553065291507716}
2026-05-06T11:10:13 - INFO: The selected reference shape JSON to: {/working/shape.json}
2026-05-06T11:10:13 - INFO:  Fit to reference shape ... 
Optimization failed for a frame: {ABNORMAL: }
Optimization failed for a frame: {ABNORMAL: }
Optimization failed for a frame: {ABNORMAL: }
2026-05-06T11:19:14 - INFO: {45841} frames are processed in {537.60} seconds. Rate: 85.27 fp/s
Track data saved to /working/79aa1111-e3d9-4bb0-ac7b-251745de0001/processing/data/alignment.track.json
 Writing PTD file in binary format...           Completed!
 PTD file is written to: /working/79aa1111-e3d9-4bb0-ac7b-251745de0001/processing/data/laser_aligned.ptd.dat