+ [ true = true ]
+ echo --sonar
+ python -m profile_alignment --result /working/result.json --sonar --write-shape /working/shape.json /working/edaec9bb-c040-42d2-ac56-9fce88bfca41/processing/data/laser.ptd.dat fit
2026-07-29T05:15:04 - INFO: Profile Alignment 0.0.42
2026-07-29T05:15:04 - INFO: Alignment track will be output to /working/edaec9bb-c040-42d2-ac56-9fce88bfca41/processing/data
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
2026-07-29T05:15:04 - INFO: Input: /working/edaec9bb-c040-42d2-ac56-9fce88bfca41/processing/data/laser.ptd.dat
2026-07-29T05:15:04 - INFO: Sonar: True
2026-07-29T05:15:04 - INFO: Method: fit
2026-07-29T05:15:04 - INFO: Shape: /app/profile_alignment/ref_shapes/circle.shape.json
2026-07-29T05:15:04 - INFO: Shape info: /working/shape.json
2026-07-29T05:15:04 - INFO: Track format: json
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
 Reading PTD file in binary format...
 Completed!
=-=-=-=-=-Adding Sonar points -=-=-=-=-=-=-
2026-07-29T05:15:11 - INFO:  Reading sonar track took 0.3565676212310791 sec!
2026-07-29T05:15:11 - INFO:  Reading sonar alignment track took {0.003674745559692383} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
2026-07-29T05:15:11 - INFO: Reference shape is detected as CIRCLE, forcing rotation to zero
2026-07-29T05:15:11 - INFO:  Calculating the size for all frames ...
2026-07-29T05:15:18 - INFO:  200 frames are processed in 6.91 seconds. rate: 28.93 fp/s
2026-07-29T05:15:18 - INFO:  Median Scale of 200 frame found to be: 0.599649833263238
2026-07-29T05:15:18 - INFO: The selected reference shape JSON to: {/working/shape.json}
2026-07-29T05:15:18 - INFO:  Fit to reference shape ... 
Optimization failed for a frame: {ABNORMAL: }
Optimization failed for a frame: {ABNORMAL: }
2026-07-29T05:16:54 - INFO: {12058} frames are processed in {95.05} seconds. Rate: 126.86 fp/s
Track data saved to /working/edaec9bb-c040-42d2-ac56-9fce88bfca41/processing/data/alignment.track.json
 Writing PTD file in binary format...           Completed!
 PTD file is written to: /working/edaec9bb-c040-42d2-ac56-9fce88bfca41/processing/data/laser_aligned.ptd.dat