+ [ true = true ]
+ echo --sonar
+ python -m profile_alignment --sonar --shape /working/shape.shape.json --write-shape /working/shape.json /working/035f4c62-adef-46b1-830d-305987fb65a8/processing/data/lidar.ptd.dat fit
2026-05-06T11:43:04 - INFO: Profile Alignment 0.0.30
2026-05-06T11:43:04 - INFO: Alignment track will be output to /working/035f4c62-adef-46b1-830d-305987fb65a8/processing/data
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
2026-05-06T11:43:04 - INFO: Input: /working/035f4c62-adef-46b1-830d-305987fb65a8/processing/data/lidar.ptd.dat
2026-05-06T11:43:04 - INFO: Sonar: True
2026-05-06T11:43:04 - INFO: Method: fit
2026-05-06T11:43:04 - INFO: Shape: /working/shape.shape.json
2026-05-06T11:43:04 - INFO: Shape info: /working/shape.json
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
2026-05-06T11:43:04 - INFO: Track format: json
 Reading PTD file in binary format...
 Completed!
=-=-=-=-=-Adding Sonar points -=-=-=-=-=-=-
2026-05-06T11:43:26 - INFO:  Reading sonar track took 0.32343292236328125 sec!
2026-05-06T11:43:26 - INFO:  Reading sonar alignment track took {0.0007913112640380859} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
2026-05-06T11:43:27 - INFO:  Calculating the size for all frames ...
2026-05-06T11:43:33 - INFO:  200 frames are processed in <6.37> seconds. rate: 31.40 fp/s
2026-05-06T11:43:33 - INFO:  Median Scale of {200} frame found to be: {2.163173866671558}
2026-05-06T11:43:33 - INFO: The selected reference shape JSON to: {/working/shape.json}
2026-05-06T11:43:33 - INFO:  Fit to reference shape ... 
Optimization failed for a frame: {ABNORMAL: }
2026-05-06T11:48:32 - INFO: {27584} frames are processed in {296.48} seconds. Rate: 93.04 fp/s
Track data saved to /working/035f4c62-adef-46b1-830d-305987fb65a8/processing/data/alignment.track.json
 Writing PTD file in binary format...           Completed!
 PTD file is written to: /working/035f4c62-adef-46b1-830d-305987fb65a8/processing/data/laser_aligned.ptd.dat