+ [ true = true ]
+ echo --sonar
+ python -m profile_alignment --result /working/result.json --sonar --write-shape /working/shape.json /working/d58259ff-560a-485f-98d5-f7c9587c73e8/processing/data/laser.ptd.dat fit
2026-07-29T05:12:21 - INFO: Profile Alignment 0.0.42
2026-07-29T05:12:21 - INFO: Alignment track will be output to /working/d58259ff-560a-485f-98d5-f7c9587c73e8/processing/data
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
2026-07-29T05:12:21 - INFO: Input: /working/d58259ff-560a-485f-98d5-f7c9587c73e8/processing/data/laser.ptd.dat
2026-07-29T05:12:21 - INFO: Sonar: True
2026-07-29T05:12:21 - INFO: Method: fit
2026-07-29T05:12:21 - INFO: Shape: /app/profile_alignment/ref_shapes/circle.shape.json
2026-07-29T05:12:21 - INFO: Shape info: /working/shape.json
2026-07-29T05:12:21 - INFO: Track format: json
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
 Reading PTD file in binary format...
 Completed!
=-=-=-=-=-Adding Sonar points -=-=-=-=-=-=-
2026-07-29T05:12:24 - INFO:  Reading sonar track took 0.14589500427246094 sec!
2026-07-29T05:12:24 - INFO:  Reading sonar alignment track took {0.003199338912963867} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
2026-07-29T05:12:25 - INFO: Reference shape is detected as CIRCLE, forcing rotation to zero
2026-07-29T05:12:25 - INFO:  Calculating the size for all frames ...
2026-07-29T05:12:28 - INFO:  200 frames are processed in 3.72 seconds. rate: 53.82 fp/s
2026-07-29T05:12:28 - INFO:  Median Scale of 200 frame found to be: 0.5290267763525061
2026-07-29T05:12:28 - INFO: The selected reference shape JSON to: {/working/shape.json}
2026-07-29T05:12:28 - INFO:  Fit to reference shape ... 
Optimization failed for a frame: {ABNORMAL: }
2026-07-29T05:13:15 - INFO: {6235} frames are processed in {46.43} seconds. Rate: 134.28 fp/s
Track data saved to /working/d58259ff-560a-485f-98d5-f7c9587c73e8/processing/data/alignment.track.json
 Writing PTD file in binary format...           Completed!
 PTD file is written to: /working/d58259ff-560a-485f-98d5-f7c9587c73e8/processing/data/laser_aligned.ptd.dat