+ [ true = true ]
+ echo --sonar
+ python -m profile_alignment --result /working/result.json --sonar --write-shape /working/shape.json /working/16660e3a-f717-4570-890d-07f31321ff86/processing/data/laser.ptd.dat fit
2026-08-04T23:57:59 - INFO: Profile Alignment 0.0.42
2026-08-04T23:57:59 - INFO: Alignment track will be output to /working/16660e3a-f717-4570-890d-07f31321ff86/processing/data
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
2026-08-04T23:57:59 - INFO: Input: /working/16660e3a-f717-4570-890d-07f31321ff86/processing/data/laser.ptd.dat
2026-08-04T23:57:59 - INFO: Sonar: True
2026-08-04T23:57:59 - INFO: Method: fit
2026-08-04T23:57:59 - INFO: Shape: /app/profile_alignment/ref_shapes/circle.shape.json
2026-08-04T23:57:59 - INFO: Shape info: /working/shape.json
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
2026-08-04T23:57:59 - INFO: Track format: json
 Reading PTD file in binary format...
 Completed!
2026-08-04T23:58:03 - INFO:  Reading sonar track took 0.15677905082702637 sec!
=-=-=-=-=-Adding Sonar points -=-=-=-=-=-=-
2026-08-04T23:58:03 - INFO:  Reading sonar alignment track took {0.0005466938018798828} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
2026-08-04T23:58:03 - INFO: Reference shape is detected as CIRCLE, forcing rotation to zero
2026-08-04T23:58:03 - INFO:  Calculating the size for all frames ...
2026-08-04T23:58:07 - INFO:  200 frames are processed in 4.18 seconds. rate: 47.81 fp/s
2026-08-04T23:58:07 - INFO:  Median Scale of 200 frame found to be: 0.5327486642273831
2026-08-04T23:58:07 - INFO: The selected reference shape JSON to: {/working/shape.json}
2026-08-04T23:58:07 - INFO:  Fit to reference shape ... 
Optimization failed for a frame: {ABNORMAL: }
Optimization failed for a frame: {ABNORMAL: }
2026-08-04T23:58:53 - INFO: {6501} frames are processed in {45.94} seconds. Rate: 141.51 fp/s
Track data saved to /working/16660e3a-f717-4570-890d-07f31321ff86/processing/data/alignment.track.json
 Writing PTD file in binary format...           Completed!
 PTD file is written to: /working/16660e3a-f717-4570-890d-07f31321ff86/processing/data/laser_aligned.ptd.dat