+ [ true = true ]
+ echo --sonar
+ python -m profile_alignment --sonar --shape /working/shape.shape.json --write-shape /working/shape.json /working/f6ff7049-3691-46cb-9346-0bb2680f4f62/processing/data/lidar.ptd.dat fit
2026-05-08T05:43:23 - INFO: Profile Alignment 0.0.30
2026-05-08T05:43:23 - INFO: Alignment track will be output to /working/f6ff7049-3691-46cb-9346-0bb2680f4f62/processing/data
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
2026-05-08T05:43:23 - INFO: Input: /working/f6ff7049-3691-46cb-9346-0bb2680f4f62/processing/data/lidar.ptd.dat
2026-05-08T05:43:23 - INFO: Sonar: True
2026-05-08T05:43:23 - INFO: Method: fit
2026-05-08T05:43:23 - INFO: Shape: /working/shape.shape.json
2026-05-08T05:43:23 - INFO: Shape info: /working/shape.json
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
2026-05-08T05:43:23 - INFO: Track format: json
 Reading PTD file in binary format...
 Completed!
=-=-=-=-=-Adding Sonar points -=-=-=-=-=-=-
2026-05-08T05:43:25 - INFO:  Reading sonar track took 0.0024192333221435547 sec!
2026-05-08T05:43:25 - INFO:  Reading sonar alignment track took {0.0004918575286865234} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
2026-05-08T05:43:25 - INFO:  Calculating the size for all frames ...
2026-05-08T05:43:27 - INFO:  200 frames are processed in <2.78> seconds. rate: 72.03 fp/s
2026-05-08T05:43:27 - INFO:  Median Scale of {200} frame found to be: {5.054208335631783}
2026-05-08T05:43:27 - INFO: The selected reference shape JSON to: {/working/shape.json}
2026-05-08T05:43:27 - INFO:  Fit to reference shape ... 
Optimization failed for a frame: {ABNORMAL: }
2026-05-08T05:43:51 - INFO: {5312} frames are processed in {23.63} seconds. Rate: 224.79 fp/s
Track data saved to /working/f6ff7049-3691-46cb-9346-0bb2680f4f62/processing/data/alignment.track.json
 Writing PTD file in binary format...           Completed!
 PTD file is written to: /working/f6ff7049-3691-46cb-9346-0bb2680f4f62/processing/data/laser_aligned.ptd.dat