{ "cells": [ { "cell_type": "markdown", "id": "87f56cc0", "metadata": {}, "source": [ "# Getting Started with `pyhelios`\n", "***" ] }, { "cell_type": "markdown", "id": "24c3ac0f", "metadata": {}, "source": [ "\n", "\n", "This page will give an introduction on using HELIOS++ python bindings with `pyhelios`. \n", "\n", "`pyhelios` allows you to:\n", "\n", "- Access and modify simulation configurations\n", "- Launch one or multiple simulations from your python script\n", "- Read point measurements and process them further in combination with other python modules" ] }, { "cell_type": "markdown", "id": "520a9126", "metadata": {}, "source": [ "## Importing `pyhelios`\n", "The package `pyhelios` is contained in the distribution root folder. It consists of different python scripts and the python-helios bindings. These bindings are actually present in the `run`-folder as `_pyhelios.pyd/[.so]`, but are imported when you import `pyhelios`. The python scripts contain functions to create and work with simulations (e.g., `SimulationBuilder`) and a `util` subpackage, where tools for scene generation and flight planning are found.\n", "\n", "Before importing, make sure that the HELIOS++ root directory is either the current working folder or added to the PATH environment variable.\n", "As this notebook is not located in the HELIOS++ root directory, we add the path to the HELIOS++ root directory to the PATH environment variable with `sys.path.append`." ] }, { "cell_type": "code", "execution_count": 1, "id": "190276b5", "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "0.1.dev1003+g06ef94c.d20240213\n" ] } ], "source": [ "import pyhelios\n", "\n", "print(pyhelios.__version__)" ] }, { "cell_type": "code", "execution_count": 4, "id": "0d4d3428", "metadata": {}, "outputs": [], "source": [ "import os\n", "os.chdir(\"..\")" ] }, { "cell_type": "markdown", "id": "9e3bfd6d", "metadata": {}, "source": [ "## Logging Level and Random Seed" ] }, { "cell_type": "code", "execution_count": 5, "id": "5411a736", "metadata": {}, "outputs": [], "source": [ "# pyhelios.loggingQuiet()\n", "# pyhelios.loggingSilent()\n", "pyhelios.loggingDefault()\n", "# pyhelios.loggingVerbose()\n", "# pyhelios.loggingVerbose2()\n", "\n", "# Set seed for default random number generator.\n", "pyhelios.setDefaultRandomnessGeneratorSeed(\"123\")" ] }, { "cell_type": "markdown", "id": "3e626d46", "metadata": {}, "source": [ "## Building a Simulation" ] }, { "cell_type": "code", "execution_count": 6, "id": "5e5fd46a", "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "SimulationBuilder is building simulation ...\n", "SimulationBuilder built simulation in 0.03192284699980519 seconds\n", "xmlDocFilename: als_toyblocks.xml\n", "xmlDocFilePath: data/surveys/toyblocks\n", "xmlDocFilename: scanners_als.xml\n", "xmlDocFilePath: data\n", "Using default value for attribute 'averagePower_w' : 4\n", "Using default value for attribute 'beamQualityFactor' : 1\n", "Using default value for attribute 'opticalEfficiency' : 0.99\n", "Using default value for attribute 'receiverDiameter_m' : 0.15\n", "Using default value for attribute 'atmosphericVisibility_km' : 23\n", "Scanner: riegl_vq-880g\n", "Device[0]: riegl_vq-880g\n", "\tAverage Power: 4 W\n", "\tBeam Divergence: 0.3 mrad\n", "\tWavelength: 1064 nm\n", "\tVisibility: 23 km\n", "\n", "Using default value for attribute 'maxNOR' : 0\n", "Using default value for attribute 'rangeMax_m' : 1.79769e+308\n", "Using default value for attribute 'headRotatePerSecMax_deg' : 0\n", "Number of subsampling rays (riegl_vq-880g): 19\n", "xmlDocFilename: platforms.xml\n", "xmlDocFilePath: data\n", "Using default value for attribute 'y' : 0\n", "Using default value for attribute 'x' : 0\n", "Number of subsampling rays (riegl_vq-880g): 19\n", "Using default value for attribute 'numRuns' : 1\n", "Using default value for attribute 'simSpeed' : 1\n", "Using default value for attribute 'stripId' : NULL_STRIP_ID\n", "Using platform default value for attribute 'x' : 0\n", "Using platform default value for attribute 'y' : 0\n", "Using platform default value for attribute 'onGround' : 0\n", "Using platform default value for attribute 'stopAndTurn' : 1\n", "Using platform default value for attribute 'smoothTurn' : 0\n", "Using platform default value for attribute 'slowdownEnabled' : 1\n", "Using default value for attribute 'name' : Unnamed platformSettings asset\n", "Using platform default value for attribute 'z' : 100\n", "Using platform default value for attribute 'onGround' : 0\n", "Using platform default value for attribute 'stopAndTurn' : 1\n", "Using platform default value for attribute 'smoothTurn' : 0\n", "Using platform default value for attribute 'slowdownEnabled' : 1\n", "Using platform default value for attribute 'movePerSec_m' : 30\n", "Using scanner default value for attribute 'beamDivergence_rad' : 0.003\n", "Using default value for attribute 'name' : Unnamed scannerSettings asset\n", "Using scanner default value for attribute 'active' : 1\n", "Using scanner default value for attribute 'pulseFreq_hz' : 300000\n", "Using scanner default value for attribute 'scanFreq_hz' : 200\n", "Using scanner default value for attribute 'beamDivergence_rad' : 0.003\n", "Using scanner default value for attribute 'trajectoryTimeInterval_s' : 0.01\n", "Using default value for attribute 'stripId' : NULL_STRIP_ID\n", "Using platform default value for attribute 'z' : 100\n", "Using platform default value for attribute 'onGround' : 0\n", "Using platform default value for attribute 'stopAndTurn' : 1\n", "Using platform default value for attribute 'smoothTurn' : 0\n", "Using platform default value for attribute 'slowdownEnabled' : 1\n", "Using platform default value for attribute 'movePerSec_m' : 30\n", "Using scanner default value for attribute 'pulseFreq_hz' : 300000\n", "Using scanner default value for attribute 'scanFreq_hz' : 200\n", "Using scanner default value for attribute 'beamDivergence_rad' : 0.003\n", "Using scanner default value for attribute 'trajectoryTimeInterval_s' : 0.01\n", "Using default value for attribute 'stripId' : NULL_STRIP_ID\n", "Using platform default value for attribute 'z' : 100\n", "Using platform default value for attribute 'onGround' : 0\n", "Using platform default value for attribute 'stopAndTurn' : 1\n", "Using platform default value for attribute 'smoothTurn' : 0\n", "Using platform default value for attribute 'slowdownEnabled' : 1\n", "Using platform default value for attribute 'movePerSec_m' : 30\n", "Using scanner default value for attribute 'active' : 1\n", "Using scanner default value for attribute 'pulseFreq_hz' : 300000\n", "Using scanner default value for attribute 'scanFreq_hz' : 200\n", "Using scanner default value for attribute 'beamDivergence_rad' : 0.003\n", "Using scanner default value for attribute 'trajectoryTimeInterval_s' : 0.01\n", "Using default value for attribute 'stripId' : NULL_STRIP_ID\n", "Using platform default value for attribute 'z' : 100\n", "Using platform default value for attribute 'onGround' : 0\n", "Using platform default value for attribute 'stopAndTurn' : 1\n", "Using platform default value for attribute 'smoothTurn' : 0\n", "Using platform default value for attribute 'slowdownEnabled' : 1\n", "Using platform default value for attribute 'movePerSec_m' : 30\n", "Using scanner default value for attribute 'pulseFreq_hz' : 300000\n", "Using scanner default value for attribute 'scanFreq_hz' : 200\n", "Using scanner default value for attribute 'beamDivergence_rad' : 0.003\n", "Using scanner default value for attribute 'trajectoryTimeInterval_s' : 0.01\n", "Using default value for attribute 'stripId' : NULL_STRIP_ID\n", "Using platform default value for attribute 'z' : 100\n", "Using platform default value for attribute 'onGround' : 0\n", "Using platform default value for attribute 'stopAndTurn' : 1\n", "Using platform default value for attribute 'smoothTurn' : 0\n", "Using platform default value for attribute 'slowdownEnabled' : 1\n", "Using platform default value for attribute 'movePerSec_m' : 30\n", "Using scanner default value for attribute 'active' : 1\n", "Using scanner default value for attribute 'pulseFreq_hz' : 300000\n", "Using scanner default value for attribute 'scanFreq_hz' : 200\n", "Using scanner default value for attribute 'beamDivergence_rad' : 0.003\n", "Using scanner default value for attribute 'trajectoryTimeInterval_s' : 0.01\n", "Using default value for attribute 'stripId' : NULL_STRIP_ID\n", "Using platform default value for attribute 'z' : 100\n", "Using platform default value for attribute 'onGround' : 0\n", "Using platform default value for attribute 'stopAndTurn' : 1\n", "Using platform default value for attribute 'smoothTurn' : 0\n", "Using platform default value for attribute 'slowdownEnabled' : 1\n", "Using platform default value for attribute 'movePerSec_m' : 30\n", "Using scanner default value for attribute 'pulseFreq_hz' : 300000\n", "Using scanner default value for attribute 'scanFreq_hz' : 200\n", "Using scanner default value for attribute 'beamDivergence_rad' : 0.003\n", "Using scanner default value for attribute 'trajectoryTimeInterval_s' : 0.01\n", "Loading Scene...\n", "xmlDocFilename: toyblocks_scene.xml\n", "xmlDocFilePath: data/scenes/toyblocks\n", "Failed to read 'up'-axis from scene XML file.\n", "Assuming 'z' axis points upwards for scene part \"data/sceneparts/basic/groundplane/groundplane.obj\".\n", "Set up axis explicitly to silence this warning.\n", "C++ Exception: boost::bad_get: failed value get using boost::get\n", "Failed to read 'up'-axis from scene XML file.\n", "Assuming 'z' axis points upwards for scene part \"data/sceneparts/toyblocks/cube.obj\".\n", "Set up axis explicitly to silence this warning.\n", "C++ Exception: boost::bad_get: failed value get using boost::get\n", "Failed to read 'up'-axis from scene XML file.\n", "Assuming 'z' axis points upwards for scene part \"data/sceneparts/toyblocks/cube.obj\".\n", "Set up axis explicitly to silence this warning.\n", "C++ Exception: boost::bad_get: failed value get using boost::get\n", "Failed to read 'up'-axis from scene XML file.\n", "Assuming 'z' axis points upwards for scene part \"data/sceneparts/toyblocks/sphere.obj\".\n", "Set up axis explicitly to silence this warning.\n", "C++ Exception: boost::bad_get: failed value get using boost::get\n", "Failed to read 'up'-axis from scene XML file.\n", "Assuming 'z' axis points upwards for scene part \"data/sceneparts/toyblocks/cylinder.obj\".\n", "Set up axis explicitly to silence this warning.\n", "C++ Exception: boost::bad_get: failed value get using boost::get\n", "5 sceneparts loaded in 0.014s\n", "\n", "CRS bounding box (by vertices): Min: dvec3(-50.000000, -70.000000, -0.233912), Max: dvec3(90.000000, 70.000000, 22.012018)\n", "Shift: dvec3(-50.000000, -70.000000, -0.233912)\n", "# vertices to translate: 3330\n", "Actual bounding box (by vertices): Min: dvec3(0.000000, 0.000000, 0.000000), Max: dvec3(140.000000, 140.000000, 22.245930)\n", "Writing serial scene wrapper object to data/scenes/toyblocks/toyblocks_scene.scene ...\n", "Building KD-Grove... \n", "KDTree (num. primitives 1110) :\n", "\tMax. # primitives in leaf: 34\n", "\tMin. # primitives in leaf: 1\n", "\tMax. depth reached: 29\n", "\tKDTree axis-aligned surface area: 51657.7\n", "\tInterior nodes: 3927\n", "\tLeaf nodes: 3483\n", "\tTotal tree cost: 6.50883\n", "KDGrove stats:\n", "\tNumber of trees: 1\n", "\tNumber of static trees: 1\n", "\tNumber of dynamic trees: 0\n", "\tStatistics (min, max, total, mean, stdev):\n", "\t\tBuilding time: (0.0030, 0.0030, 0.0030, 0.0030, 0.0000)\n", "\t\tTree primitives: (1110, 1110, 1110, 1110.0000, 0.0000)\n", "\t\tMax primitives in leaf: (34, 34, 34, 34.0000, 0.0000)\n", "\t\tMin primitives in leaf: (1, 1, 1, 1.0000, 0.0000)\n", "\t\tMaximum depth: (29, 29, 29, 29.0000, 0.0000)\n", "\t\tAxis-aligned surface area: (51657.7208, 51657.7208, 51657.7208, 51657.7208, 0.0000)\n", "\t\tNumber of interior nodes: (3927, 3927, 3927, 3927.0000, 0.0000)\n", "\t\tNumber of leaf nodes: (3483, 3483, 3483, 3483.0000, 0.0000)\n", "\t\tTree cost: (6.5088, 6.5088, 6.5088, 6.5088, 0.0000)\n", "\n", "KDG built in 0.003s\n", "Scene loaded in 0.028s\n", "Reading Spectral Library...\n" ] } ], "source": [ "simBuilder = pyhelios.SimulationBuilder(\n", " \"data/surveys/toyblocks/als_toyblocks.xml\", \"assets/\", \"output/\"\n", ")\n", "# simBuilder.setNumThreads(1) # use only one thread (to ensure reproducibility)\n", "simBuilder.setLasOutput(True)\n", "simBuilder.setZipOutput(True)\n", "simBuilder.setCallbackFrequency(10) # Run with callback\n", "simBuilder.setFinalOutput(True) # Return output at join\n", "# simBuilder.setExportToFile(False) # Disable export point cloud to file\n", "simBuilder.setRebuildScene(True)\n", "\n", "sim = simBuilder.build()" ] }, { "cell_type": "markdown", "id": "536c6232", "metadata": {}, "source": [ "## Starting, Pausing and Getting the Simulation Status" ] }, { "cell_type": "markdown", "id": "27469b06", "metadata": {}, "source": [ "Simulations can also be paused, resumed and stopped:\n", "```python\n", "sim.start()\n", "sim.pause()\n", "sim.resume()\n", "sim.stop()\n", "```\n", "\n", "With various functions, we can find out the simulation status.\n", "```python\n", "sim.isStarted()\n", "sim.isRunning()\n", "sim.isPaused()\n", "sim.isStopped()\n", "sim.isFinished()\n", "```" ] }, { "cell_type": "code", "execution_count": 7, "id": "b744c735", "metadata": { "pycharm": { "is_executing": true } }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Simulation is started!\n", "Output directory: \"output//toyblocks_als/2024-02-13_11-05-56/\"\n", "Simulation: Scanner changed!\n", "Starting leg 0\n", "\n", "Pulse frequency set to 300000\n", "Scan angle set to 20\n", "Iterative mode was used for manual leg initialization because default one failed for MovingPlatform\n", "Leg0 waypoints:\n", "\tOrigin: (20, 20, 100.234)\n", "\tTarget: (120, 20, 100.234)\n", "\tNext: (120, 70, 100.234)\n", "\n", "Clearing point cloud: \"output//toyblocks_als/2024-02-13_11-05-56/leg000_points.laz\"\n", "Survey 0.25%\tElapsed 00 00:00:00 Remaining 00 00:00:03\n", "Leg1/5 1.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 0.50%\tElapsed 00 00:00:00 Remaining 00 00:00:03\n", "Leg1/5 2.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 0.75%\tElapsed 00 00:00:00 Remaining 00 00:00:03\n", "Leg1/5 3.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 1.00%\tElapsed 00 00:00:00 Remaining 00 00:00:03\n", "Leg1/5 4.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 1.25%\tElapsed 00 00:00:00 Remaining 00 00:00:03\n", "Leg1/5 5.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 1.50%\tElapsed 00 00:00:00 Remaining 00 00:00:03\n", "Leg1/5 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15.75%\tElapsed 00 00:00:00 Remaining 00 00:00:03\n", "Leg1/5 63.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 16.00%\tElapsed 00 00:00:00 Remaining 00 00:00:03\n", "Leg1/5 64.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 16.25%\tElapsed 00 00:00:00 Remaining 00 00:00:03\n", "Leg1/5 65.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 16.50%\tElapsed 00 00:00:00 Remaining 00 00:00:03\n", "Leg1/5 66.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 16.75%\tElapsed 00 00:00:00 Remaining 00 00:00:03\n", "Leg1/5 67.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 17.00%\tElapsed 00 00:00:00 Remaining 00 00:00:03\n", "Leg1/5 68.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 17.25%\tElapsed 00 00:00:00 Remaining 00 00:00:03\n", "Leg1/5 69.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 17.50%\tElapsed 00 00:00:00 Remaining 00 00:00:03\n", "Leg1/5 70.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 17.75%\tElapsed 00 00:00:00 Remaining 00 00:00:03\n", "Leg1/5 71.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 18.00%\tElapsed 00 00:00:00 Remaining 00 00:00:03\n", "Leg1/5 72.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 18.25%\tElapsed 00 00:00:00 Remaining 00 00:00:03\n", "Leg1/5 73.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 18.50%\tElapsed 00 00:00:00 Remaining 00 00:00:03\n", "Leg1/5 74.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 18.75%\tElapsed 00 00:00:00 Remaining 00 00:00:03\n", "Leg1/5 75.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 19.00%\tElapsed 00 00:00:00 Remaining 00 00:00:03\n", "Leg1/5 76.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 19.25%\tElapsed 00 00:00:00 Remaining 00 00:00:03\n", "Leg1/5 77.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 19.50%\tElapsed 00 00:00:00 Remaining 00 00:00:03\n", "Leg1/5 78.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 19.75%\tElapsed 00 00:00:00 Remaining 00 00:00:03\n", "Leg1/5 79.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 20.00%\tElapsed 00 00:00:00 Remaining 00 00:00:03\n", "Leg1/5 80.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 20.25%\tElapsed 00 00:00:00 Remaining 00 00:00:03\n", "Leg1/5 81.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 20.50%\tElapsed 00 00:00:00 Remaining 00 00:00:03\n", "Leg1/5 82.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 20.75%\tElapsed 00 00:00:00 Remaining 00 00:00:03\n", "Leg1/5 83.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 21.00%\tElapsed 00 00:00:00 Remaining 00 00:00:03\n", "Leg1/5 84.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 21.25%\tElapsed 00 00:00:00 Remaining 00 00:00:03\n", "Leg1/5 85.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 21.50%\tElapsed 00 00:00:00 Remaining 00 00:00:03\n", "Leg1/5 86.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 21.75%\tElapsed 00 00:00:00 Remaining 00 00:00:03\n", "Leg1/5 87.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Simulation is paused!\n", "Simulation is not running.\n", "Simulation is resumed!\n", "Simulation is running since 0 min and 0 sec. Please wait.Survey 22.00%\tElapsed 00 00:00:06 Remaining 00 00:00:21\n", "Leg1/5 88.00%\tElapsed 00 00:00:06 Remaining 00 00:00:00\n", "Survey 22.25%\tElapsed 00 00:00:06 Remaining 00 00:00:21\n", "Leg1/5 89.00%\tElapsed 00 00:00:06 Remaining 00 00:00:00\n", "Survey 22.50%\tElapsed 00 00:00:06 Remaining 00 00:00:20\n", "Leg1/5 90.00%\tElapsed 00 00:00:06 Remaining 00 00:00:00\n", "Survey 22.75%\tElapsed 00 00:00:06 Remaining 00 00:00:20\n", "Leg1/5 91.00%\tElapsed 00 00:00:06 Remaining 00 00:00:00\n", "Survey 23.00%\tElapsed 00 00:00:06 Remaining 00 00:00:20\n", "Leg1/5 92.00%\tElapsed 00 00:00:06 Remaining 00 00:00:00\n", "Survey 23.25%\tElapsed 00 00:00:06 Remaining 00 00:00:20\n", "Leg1/5 93.00%\tElapsed 00 00:00:06 Remaining 00 00:00:00\n", "Survey 23.50%\tElapsed 00 00:00:06 Remaining 00 00:00:19\n", "Leg1/5 94.00%\tElapsed 00 00:00:06 Remaining 00 00:00:00\n", "Survey 23.75%\tElapsed 00 00:00:06 Remaining 00 00:00:19\n", "Leg1/5 95.00%\tElapsed 00 00:00:06 Remaining 00 00:00:00\n", "Survey 24.00%\tElapsed 00 00:00:06 Remaining 00 00:00:19\n", "Leg1/5 96.00%\tElapsed 00 00:00:06 Remaining 00 00:00:00\n", "Survey 24.25%\tElapsed 00 00:00:06 Remaining 00 00:00:19\n", "Leg1/5 97.00%\tElapsed 00 00:00:06 Remaining 00 00:00:00\n", "Survey 24.50%\tElapsed 00 00:00:06 Remaining 00 00:00:18\n", "Leg1/5 98.00%\tElapsed 00 00:00:06 Remaining 00 00:00:00\n", "Survey 24.75%\tElapsed 00 00:00:06 Remaining 00 00:00:18\n", "Leg1/5 99.00%\tElapsed 00 00:00:06 Remaining 00 00:00:00\n", "Waypoint reached!\n", "Starting leg 1\n", "\n", "Pulse frequency set to 300000\n", "Scan angle set to 20\n", "Leg1 waypoints:\n", "\tOrigin: (120, 20, 100.234)\n", "\tTarget: (120, 70, 100.234)\n", "\tNext: (20, 70, 100.234)\n", "\n", "Survey 25.13%\tElapsed 00 00:00:06 Remaining 00 00:00:18\n", "Leg2/5 1.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 25.25%\tElapsed 00 00:00:06 Remaining 00 00:00:18\n", "Leg2/5 2.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 25.38%\tElapsed 00 00:00:06 Remaining 00 00:00:18\n", "Leg2/5 3.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 25.50%\tElapsed 00 00:00:06 Remaining 00 00:00:17\n", "Leg2/5 4.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 25.63%\tElapsed 00 00:00:06 Remaining 00 00:00:17\n", "Leg2/5 5.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 25.75%\tElapsed 00 00:00:06 Remaining 00 00:00:17\n", "Leg2/5 6.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 25.88%\tElapsed 00 00:00:06 Remaining 00 00:00:17\n", "Leg2/5 7.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 26.00%\tElapsed 00 00:00:06 Remaining 00 00:00:17\n", "Leg2/5 8.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 26.13%\tElapsed 00 00:00:06 Remaining 00 00:00:17\n", "Leg2/5 9.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 26.25%\tElapsed 00 00:00:06 Remaining 00 00:00:17\n", "Leg2/5 10.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 26.38%\tElapsed 00 00:00:06 Remaining 00 00:00:17\n", "Leg2/5 11.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 26.50%\tElapsed 00 00:00:06 Remaining 00 00:00:17\n", "Leg2/5 12.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 26.63%\tElapsed 00 00:00:06 Remaining 00 00:00:16\n", "Leg2/5 13.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 26.75%\tElapsed 00 00:00:06 Remaining 00 00:00:16\n", "Leg2/5 14.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 26.88%\tElapsed 00 00:00:06 Remaining 00 00:00:16\n", "Leg2/5 15.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 27.00%\tElapsed 00 00:00:06 Remaining 00 00:00:16\n", "Leg2/5 16.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 27.13%\tElapsed 00 00:00:06 Remaining 00 00:00:16\n", "Leg2/5 17.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 27.25%\tElapsed 00 00:00:06 Remaining 00 00:00:16\n", "Leg2/5 18.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 27.38%\tElapsed 00 00:00:06 Remaining 00 00:00:16\n", "Leg2/5 19.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 27.50%\tElapsed 00 00:00:06 Remaining 00 00:00:16\n", "Leg2/5 20.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 27.63%\tElapsed 00 00:00:06 Remaining 00 00:00:16\n", "Leg2/5 21.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 27.75%\tElapsed 00 00:00:06 Remaining 00 00:00:15\n", "Leg2/5 22.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 27.88%\tElapsed 00 00:00:06 Remaining 00 00:00:15\n", "Leg2/5 23.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 28.00%\tElapsed 00 00:00:06 Remaining 00 00:00:15\n", "Leg2/5 24.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 28.13%\tElapsed 00 00:00:06 Remaining 00 00:00:15\n", "Leg2/5 25.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 28.25%\tElapsed 00 00:00:06 Remaining 00 00:00:15\n", "Leg2/5 26.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 28.38%\tElapsed 00 00:00:06 Remaining 00 00:00:15\n", "Leg2/5 27.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 28.50%\tElapsed 00 00:00:06 Remaining 00 00:00:15\n", "Leg2/5 28.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 28.63%\tElapsed 00 00:00:06 Remaining 00 00:00:15\n", "Leg2/5 29.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 28.75%\tElapsed 00 00:00:06 Remaining 00 00:00:15\n", "Leg2/5 30.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 28.88%\tElapsed 00 00:00:06 Remaining 00 00:00:15\n", "Leg2/5 31.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 29.00%\tElapsed 00 00:00:06 Remaining 00 00:00:15\n", "Leg2/5 32.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 29.13%\tElapsed 00 00:00:06 Remaining 00 00:00:14\n", "Leg2/5 33.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 29.25%\tElapsed 00 00:00:06 Remaining 00 00:00:14\n", "Leg2/5 34.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 29.38%\tElapsed 00 00:00:06 Remaining 00 00:00:14\n", "Leg2/5 35.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 29.50%\tElapsed 00 00:00:06 Remaining 00 00:00:14\n", "Leg2/5 36.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 29.63%\tElapsed 00 00:00:06 Remaining 00 00:00:14\n", "Leg2/5 37.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 29.75%\tElapsed 00 00:00:06 Remaining 00 00:00:14\n", "Leg2/5 38.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 29.88%\tElapsed 00 00:00:06 Remaining 00 00:00:14\n", "Leg2/5 39.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 30.00%\tElapsed 00 00:00:06 Remaining 00 00:00:14\n", "Leg2/5 40.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 30.13%\tElapsed 00 00:00:06 Remaining 00 00:00:14\n", "Leg2/5 41.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 30.25%\tElapsed 00 00:00:06 Remaining 00 00:00:14\n", "Leg2/5 42.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 30.38%\tElapsed 00 00:00:06 Remaining 00 00:00:14\n", "Leg2/5 43.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 30.50%\tElapsed 00 00:00:06 Remaining 00 00:00:14\n", "Leg2/5 44.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 30.63%\tElapsed 00 00:00:06 Remaining 00 00:00:13\n", "Leg2/5 45.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 30.75%\tElapsed 00 00:00:06 Remaining 00 00:00:13\n", "Leg2/5 46.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 30.88%\tElapsed 00 00:00:06 Remaining 00 00:00:13\n", "Leg2/5 47.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 31.00%\tElapsed 00 00:00:06 Remaining 00 00:00:13\n", "Leg2/5 48.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 31.13%\tElapsed 00 00:00:06 Remaining 00 00:00:13\n", "Leg2/5 49.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 31.25%\tElapsed 00 00:00:06 Remaining 00 00:00:13\n", "Leg2/5 50.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 31.38%\tElapsed 00 00:00:06 Remaining 00 00:00:13\n", "Leg2/5 51.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 31.50%\tElapsed 00 00:00:06 Remaining 00 00:00:13\n", "Leg2/5 52.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 31.63%\tElapsed 00 00:00:06 Remaining 00 00:00:13\n", "Leg2/5 53.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 31.75%\tElapsed 00 00:00:06 Remaining 00 00:00:13\n", "Leg2/5 54.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 31.88%\tElapsed 00 00:00:06 Remaining 00 00:00:13\n", "Leg2/5 55.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 32.00%\tElapsed 00 00:00:06 Remaining 00 00:00:13\n", "Leg2/5 56.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 32.13%\tElapsed 00 00:00:06 Remaining 00 00:00:13\n", "Leg2/5 57.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 32.25%\tElapsed 00 00:00:06 Remaining 00 00:00:12\n", "Leg2/5 58.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 32.38%\tElapsed 00 00:00:06 Remaining 00 00:00:12\n", "Leg2/5 59.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 32.50%\tElapsed 00 00:00:06 Remaining 00 00:00:12\n", "Leg2/5 60.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 32.63%\tElapsed 00 00:00:06 Remaining 00 00:00:12\n", "Leg2/5 61.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 32.75%\tElapsed 00 00:00:06 Remaining 00 00:00:12\n", "Leg2/5 62.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 32.88%\tElapsed 00 00:00:06 Remaining 00 00:00:12\n", "Leg2/5 63.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 33.00%\tElapsed 00 00:00:06 Remaining 00 00:00:12\n", "Leg2/5 64.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 33.13%\tElapsed 00 00:00:06 Remaining 00 00:00:12\n", "Leg2/5 65.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 33.25%\tElapsed 00 00:00:06 Remaining 00 00:00:12\n", "Leg2/5 66.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 33.38%\tElapsed 00 00:00:06 Remaining 00 00:00:12\n", "Leg2/5 67.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 33.50%\tElapsed 00 00:00:06 Remaining 00 00:00:12\n", "Leg2/5 68.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 33.63%\tElapsed 00 00:00:06 Remaining 00 00:00:12\n", "Leg2/5 69.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 33.75%\tElapsed 00 00:00:06 Remaining 00 00:00:12\n", "Leg2/5 70.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 33.88%\tElapsed 00 00:00:06 Remaining 00 00:00:12\n", "Leg2/5 71.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 34.00%\tElapsed 00 00:00:06 Remaining 00 00:00:11\n", "Leg2/5 72.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 34.13%\tElapsed 00 00:00:06 Remaining 00 00:00:11\n", "Leg2/5 73.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 34.25%\tElapsed 00 00:00:06 Remaining 00 00:00:11\n", "Leg2/5 74.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 34.38%\tElapsed 00 00:00:06 Remaining 00 00:00:11\n", "Leg2/5 75.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 34.50%\tElapsed 00 00:00:06 Remaining 00 00:00:11\n", "Leg2/5 76.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 34.63%\tElapsed 00 00:00:06 Remaining 00 00:00:11\n", "Leg2/5 77.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 34.75%\tElapsed 00 00:00:06 Remaining 00 00:00:11\n", "Leg2/5 78.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 34.88%\tElapsed 00 00:00:06 Remaining 00 00:00:11\n", "Leg2/5 79.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 35.00%\tElapsed 00 00:00:06 Remaining 00 00:00:11\n", "Leg2/5 80.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 35.13%\tElapsed 00 00:00:06 Remaining 00 00:00:11\n", "Leg2/5 81.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 35.25%\tElapsed 00 00:00:06 Remaining 00 00:00:11\n", "Leg2/5 82.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 35.38%\tElapsed 00 00:00:06 Remaining 00 00:00:11\n", "Leg2/5 83.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 35.50%\tElapsed 00 00:00:06 Remaining 00 00:00:11\n", "Leg2/5 84.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 35.63%\tElapsed 00 00:00:06 Remaining 00 00:00:11\n", "Leg2/5 85.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 35.75%\tElapsed 00 00:00:06 Remaining 00 00:00:11\n", "Leg2/5 86.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 35.88%\tElapsed 00 00:00:06 Remaining 00 00:00:11\n", "Leg2/5 87.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 36.00%\tElapsed 00 00:00:06 Remaining 00 00:00:10\n", "Leg2/5 88.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 36.13%\tElapsed 00 00:00:06 Remaining 00 00:00:10\n", "Leg2/5 89.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 36.25%\tElapsed 00 00:00:06 Remaining 00 00:00:10\n", "Leg2/5 90.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 36.38%\tElapsed 00 00:00:06 Remaining 00 00:00:10\n", "Leg2/5 91.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 36.50%\tElapsed 00 00:00:06 Remaining 00 00:00:10\n", "Leg2/5 92.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 36.63%\tElapsed 00 00:00:06 Remaining 00 00:00:10\n", "Leg2/5 93.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 36.75%\tElapsed 00 00:00:06 Remaining 00 00:00:10\n", "Leg2/5 94.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 36.88%\tElapsed 00 00:00:06 Remaining 00 00:00:10\n", "Leg2/5 95.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 37.00%\tElapsed 00 00:00:06 Remaining 00 00:00:10\n", "Leg2/5 96.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 37.13%\tElapsed 00 00:00:06 Remaining 00 00:00:10\n", "Leg2/5 97.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 37.25%\tElapsed 00 00:00:06 Remaining 00 00:00:10\n", "Leg2/5 98.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 37.38%\tElapsed 00 00:00:06 Remaining 00 00:00:10\n", "Leg2/5 99.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Waypoint reached!\n", "Starting leg 2\n", "\n", "Pulse frequency set to 300000\n", "Scan angle set to 20\n", "Leg2 waypoints:\n", "\tOrigin: (120, 70, 100.234)\n", "\tTarget: (20, 70, 100.234)\n", "\tNext: (20, 120, 100.234)\n", "\n", "Clearing point cloud: \"output//toyblocks_als/2024-02-13_11-05-56/leg002_points.laz\"\n", "Survey 37.75%\tElapsed 00 00:00:06 Remaining 00 00:00:10\n", "Leg3/5 1.00%\tElapsed 00 00:00:00 Remaining 00 00:00:01\n", "Survey 38.00%\tElapsed 00 00:00:06 Remaining 00 00:00:10\n", "Leg3/5 2.00%\tElapsed 00 00:00:00 Remaining 00 00:00:01\n", "Survey 38.25%\tElapsed 00 00:00:06 Remaining 00 00:00:10\n", "Leg3/5 3.00%\tElapsed 00 00:00:00 Remaining 00 00:00:01\n", "Survey 38.50%\tElapsed 00 00:00:06 Remaining 00 00:00:09\n", "Leg3/5 4.00%\tElapsed 00 00:00:00 Remaining 00 00:00:01\n", "Survey 38.75%\tElapsed 00 00:00:06 Remaining 00 00:00:09\n", "Leg3/5 5.00%\tElapsed 00 00:00:00 Remaining 00 00:00:01\n", "Survey 39.00%\tElapsed 00 00:00:06 Remaining 00 00:00:09\n", "Leg3/5 6.00%\tElapsed 00 00:00:00 Remaining 00 00:00:01\n", "Survey 39.25%\tElapsed 00 00:00:06 Remaining 00 00:00:09\n", "Leg3/5 7.00%\tElapsed 00 00:00:00 Remaining 00 00:00:01\n", "Survey 39.50%\tElapsed 00 00:00:06 Remaining 00 00:00:09\n", "Leg3/5 8.00%\tElapsed 00 00:00:00 Remaining 00 00:00:01\n", "Survey 39.75%\tElapsed 00 00:00:06 Remaining 00 00:00:09\n", "Leg3/5 9.00%\tElapsed 00 00:00:00 Remaining 00 00:00:01\n", "Survey 40.00%\tElapsed 00 00:00:06 Remaining 00 00:00:09\n", "Leg3/5 10.00%\tElapsed 00 00:00:00 Remaining 00 00:00:01\n", "Survey 40.25%\tElapsed 00 00:00:06 Remaining 00 00:00:09\n", "Leg3/5 11.00%\tElapsed 00 00:00:00 Remaining 00 00:00:01\n", "Survey 40.50%\tElapsed 00 00:00:06 Remaining 00 00:00:09\n", "Leg3/5 12.00%\tElapsed 00 00:00:00 Remaining 00 00:00:01\n", "Survey 40.75%\tElapsed 00 00:00:06 Remaining 00 00:00:09\n", "Leg3/5 13.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 41.00%\tElapsed 00 00:00:06 Remaining 00 00:00:09\n", "Leg3/5 14.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 41.25%\tElapsed 00 00:00:06 Remaining 00 00:00:09\n", "Leg3/5 15.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 41.50%\tElapsed 00 00:00:06 Remaining 00 00:00:08\n", "Leg3/5 16.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 41.75%\tElapsed 00 00:00:06 Remaining 00 00:00:08\n", "Leg3/5 17.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 42.00%\tElapsed 00 00:00:06 Remaining 00 00:00:08\n", "Leg3/5 18.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 42.25%\tElapsed 00 00:00:06 Remaining 00 00:00:08\n", "Leg3/5 19.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 42.50%\tElapsed 00 00:00:06 Remaining 00 00:00:08\n", "Leg3/5 20.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 42.75%\tElapsed 00 00:00:06 Remaining 00 00:00:08\n", "Leg3/5 21.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 43.00%\tElapsed 00 00:00:06 Remaining 00 00:00:08\n", "Leg3/5 22.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 43.25%\tElapsed 00 00:00:06 Remaining 00 00:00:08\n", "Leg3/5 23.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 43.50%\tElapsed 00 00:00:06 Remaining 00 00:00:08\n", "Leg3/5 24.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 43.75%\tElapsed 00 00:00:06 Remaining 00 00:00:08\n", "Leg3/5 25.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 44.00%\tElapsed 00 00:00:06 Remaining 00 00:00:08\n", "Leg3/5 26.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 44.25%\tElapsed 00 00:00:06 Remaining 00 00:00:08\n", "Leg3/5 27.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 44.50%\tElapsed 00 00:00:06 Remaining 00 00:00:08\n", "Leg3/5 28.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 44.75%\tElapsed 00 00:00:06 Remaining 00 00:00:08\n", "Leg3/5 29.00%\tElapsed 00 00:00:00 Remaining 00 00:00:01\n", "Survey 45.00%\tElapsed 00 00:00:06 Remaining 00 00:00:08\n", "Leg3/5 30.00%\tElapsed 00 00:00:00 Remaining 00 00:00:01\n", "Survey 45.25%\tElapsed 00 00:00:06 Remaining 00 00:00:08\n", "Leg3/5 31.00%\tElapsed 00 00:00:00 Remaining 00 00:00:01\n", "Survey 45.50%\tElapsed 00 00:00:06 Remaining 00 00:00:08\n", "Leg3/5 32.00%\tElapsed 00 00:00:00 Remaining 00 00:00:01\n", "Survey 45.75%\tElapsed 00 00:00:06 Remaining 00 00:00:07\n", "Leg3/5 33.00%\tElapsed 00 00:00:00 Remaining 00 00:00:01\n", "Survey 46.00%\tElapsed 00 00:00:06 Remaining 00 00:00:07\n", "Leg3/5 34.00%\tElapsed 00 00:00:00 Remaining 00 00:00:01\n", "Survey 46.25%\tElapsed 00 00:00:06 Remaining 00 00:00:07\n", "Leg3/5 35.00%\tElapsed 00 00:00:00 Remaining 00 00:00:01\n", "Survey 46.50%\tElapsed 00 00:00:06 Remaining 00 00:00:07\n", "Leg3/5 36.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 46.75%\tElapsed 00 00:00:06 Remaining 00 00:00:07\n", "Leg3/5 37.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 47.00%\tElapsed 00 00:00:06 Remaining 00 00:00:07\n", "Leg3/5 38.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 47.25%\tElapsed 00 00:00:06 Remaining 00 00:00:07\n", "Leg3/5 39.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 47.50%\tElapsed 00 00:00:06 Remaining 00 00:00:07\n", "Leg3/5 40.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 47.75%\tElapsed 00 00:00:06 Remaining 00 00:00:07\n", "Leg3/5 41.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 48.00%\tElapsed 00 00:00:06 Remaining 00 00:00:07\n", "Leg3/5 42.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 48.25%\tElapsed 00 00:00:06 Remaining 00 00:00:07\n", "Leg3/5 43.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 48.50%\tElapsed 00 00:00:06 Remaining 00 00:00:07\n", "Leg3/5 44.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 48.75%\tElapsed 00 00:00:06 Remaining 00 00:00:07\n", "Leg3/5 45.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 49.00%\tElapsed 00 00:00:06 Remaining 00 00:00:07\n", "Leg3/5 46.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 49.25%\tElapsed 00 00:00:06 Remaining 00 00:00:07\n", "Leg3/5 47.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 49.50%\tElapsed 00 00:00:06 Remaining 00 00:00:07\n", "Leg3/5 48.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 49.75%\tElapsed 00 00:00:06 Remaining 00 00:00:07\n", "Leg3/5 49.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 50.00%\tElapsed 00 00:00:06 Remaining 00 00:00:06\n", "Leg3/5 50.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 50.25%\tElapsed 00 00:00:06 Remaining 00 00:00:06\n", "Leg3/5 51.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 50.50%\tElapsed 00 00:00:06 Remaining 00 00:00:06\n", "Leg3/5 52.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Simulation is running since 0 min and 1 sec. Please wait.Survey 50.75%\tElapsed 00 00:00:07 Remaining 00 00:00:06\n", "Leg3/5 53.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 51.00%\tElapsed 00 00:00:07 Remaining 00 00:00:06\n", "Leg3/5 54.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 51.25%\tElapsed 00 00:00:07 Remaining 00 00:00:06\n", "Leg3/5 55.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 51.50%\tElapsed 00 00:00:07 Remaining 00 00:00:06\n", "Leg3/5 56.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 51.75%\tElapsed 00 00:00:07 Remaining 00 00:00:06\n", "Leg3/5 57.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 52.00%\tElapsed 00 00:00:07 Remaining 00 00:00:06\n", "Leg3/5 58.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 52.25%\tElapsed 00 00:00:07 Remaining 00 00:00:06\n", "Leg3/5 59.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 52.50%\tElapsed 00 00:00:07 Remaining 00 00:00:06\n", "Leg3/5 60.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 52.75%\tElapsed 00 00:00:07 Remaining 00 00:00:06\n", "Leg3/5 61.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 53.00%\tElapsed 00 00:00:07 Remaining 00 00:00:06\n", "Leg3/5 62.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 53.25%\tElapsed 00 00:00:07 Remaining 00 00:00:06\n", "Leg3/5 63.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 53.50%\tElapsed 00 00:00:07 Remaining 00 00:00:06\n", "Leg3/5 64.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 53.75%\tElapsed 00 00:00:07 Remaining 00 00:00:06\n", "Leg3/5 65.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 54.00%\tElapsed 00 00:00:07 Remaining 00 00:00:06\n", "Leg3/5 66.00%\tElapsed 00 00:00:01 Remaining 00 00:00:00\n", "Survey 54.25%\tElapsed 00 00:00:07 Remaining 00 00:00:06\n", "Leg3/5 67.00%\tElapsed 00 00:00:01 Remaining 00 00:00:00\n", "Survey 54.50%\tElapsed 00 00:00:07 Remaining 00 00:00:06\n", "Leg3/5 68.00%\tElapsed 00 00:00:01 Remaining 00 00:00:00\n", "Survey 54.75%\tElapsed 00 00:00:07 Remaining 00 00:00:05\n", "Leg3/5 69.00%\tElapsed 00 00:00:01 Remaining 00 00:00:00\n", "Survey 55.00%\tElapsed 00 00:00:07 Remaining 00 00:00:05\n", "Leg3/5 70.00%\tElapsed 00 00:00:01 Remaining 00 00:00:00\n", "Survey 55.25%\tElapsed 00 00:00:07 Remaining 00 00:00:05\n", "Leg3/5 71.00%\tElapsed 00 00:00:01 Remaining 00 00:00:00\n", "Survey 55.50%\tElapsed 00 00:00:07 Remaining 00 00:00:05\n", "Leg3/5 72.00%\tElapsed 00 00:00:01 Remaining 00 00:00:00\n", "Survey 55.75%\tElapsed 00 00:00:07 Remaining 00 00:00:05\n", "Leg3/5 73.00%\tElapsed 00 00:00:01 Remaining 00 00:00:00\n", "Survey 56.00%\tElapsed 00 00:00:07 Remaining 00 00:00:05\n", "Leg3/5 74.00%\tElapsed 00 00:00:01 Remaining 00 00:00:00\n", "Survey 56.25%\tElapsed 00 00:00:07 Remaining 00 00:00:05\n", "Leg3/5 75.00%\tElapsed 00 00:00:01 Remaining 00 00:00:00\n", "Survey 56.50%\tElapsed 00 00:00:07 Remaining 00 00:00:05\n", "Leg3/5 76.00%\tElapsed 00 00:00:01 Remaining 00 00:00:00\n", "Survey 56.75%\tElapsed 00 00:00:07 Remaining 00 00:00:05\n", "Leg3/5 77.00%\tElapsed 00 00:00:01 Remaining 00 00:00:00\n", "Survey 57.00%\tElapsed 00 00:00:07 Remaining 00 00:00:05\n", "Leg3/5 78.00%\tElapsed 00 00:00:01 Remaining 00 00:00:00\n", "Survey 57.25%\tElapsed 00 00:00:07 Remaining 00 00:00:05\n", "Leg3/5 79.00%\tElapsed 00 00:00:01 Remaining 00 00:00:00\n", "Survey 57.50%\tElapsed 00 00:00:07 Remaining 00 00:00:05\n", "Leg3/5 80.00%\tElapsed 00 00:00:01 Remaining 00 00:00:00\n", "Survey 57.75%\tElapsed 00 00:00:07 Remaining 00 00:00:05\n", "Leg3/5 81.00%\tElapsed 00 00:00:01 Remaining 00 00:00:00\n", "Survey 58.00%\tElapsed 00 00:00:07 Remaining 00 00:00:05\n", "Leg3/5 82.00%\tElapsed 00 00:00:01 Remaining 00 00:00:00\n", "Survey 58.25%\tElapsed 00 00:00:07 Remaining 00 00:00:05\n", "Leg3/5 83.00%\tElapsed 00 00:00:01 Remaining 00 00:00:00\n", "Survey 58.50%\tElapsed 00 00:00:07 Remaining 00 00:00:05\n", "Leg3/5 84.00%\tElapsed 00 00:00:01 Remaining 00 00:00:00\n", "Survey 58.75%\tElapsed 00 00:00:07 Remaining 00 00:00:05\n", "Leg3/5 85.00%\tElapsed 00 00:00:01 Remaining 00 00:00:00\n", "Survey 59.00%\tElapsed 00 00:00:07 Remaining 00 00:00:05\n", "Leg3/5 86.00%\tElapsed 00 00:00:01 Remaining 00 00:00:00\n", "Survey 59.25%\tElapsed 00 00:00:07 Remaining 00 00:00:05\n", "Leg3/5 87.00%\tElapsed 00 00:00:01 Remaining 00 00:00:00\n", "Survey 59.50%\tElapsed 00 00:00:07 Remaining 00 00:00:05\n", "Leg3/5 88.00%\tElapsed 00 00:00:01 Remaining 00 00:00:00\n", "Survey 59.75%\tElapsed 00 00:00:07 Remaining 00 00:00:05\n", "Leg3/5 89.00%\tElapsed 00 00:00:01 Remaining 00 00:00:00\n", "Survey 60.00%\tElapsed 00 00:00:07 Remaining 00 00:00:04\n", "Leg3/5 90.00%\tElapsed 00 00:00:01 Remaining 00 00:00:00\n", "Survey 60.25%\tElapsed 00 00:00:07 Remaining 00 00:00:04\n", "Leg3/5 91.00%\tElapsed 00 00:00:01 Remaining 00 00:00:00\n", "Survey 60.50%\tElapsed 00 00:00:07 Remaining 00 00:00:04\n", "Leg3/5 92.00%\tElapsed 00 00:00:01 Remaining 00 00:00:00\n", "Survey 60.75%\tElapsed 00 00:00:07 Remaining 00 00:00:04\n", "Leg3/5 93.00%\tElapsed 00 00:00:01 Remaining 00 00:00:00\n", "Survey 61.00%\tElapsed 00 00:00:07 Remaining 00 00:00:04\n", "Leg3/5 94.00%\tElapsed 00 00:00:01 Remaining 00 00:00:00\n", "Survey 61.25%\tElapsed 00 00:00:07 Remaining 00 00:00:04\n", "Leg3/5 95.00%\tElapsed 00 00:00:01 Remaining 00 00:00:00\n", "Survey 61.50%\tElapsed 00 00:00:07 Remaining 00 00:00:04\n", "Leg3/5 96.00%\tElapsed 00 00:00:01 Remaining 00 00:00:00\n", "Survey 61.75%\tElapsed 00 00:00:07 Remaining 00 00:00:04\n", "Leg3/5 97.00%\tElapsed 00 00:00:01 Remaining 00 00:00:00\n", "Survey 62.00%\tElapsed 00 00:00:07 Remaining 00 00:00:04\n", "Leg3/5 98.00%\tElapsed 00 00:00:01 Remaining 00 00:00:00\n", "Survey 62.25%\tElapsed 00 00:00:07 Remaining 00 00:00:04\n", "Leg3/5 99.00%\tElapsed 00 00:00:01 Remaining 00 00:00:00\n", "Waypoint reached!\n", "Starting leg 3\n", "\n", "Pulse frequency set to 300000\n", "Scan angle set to 20\n", "Iterative mode was used for manual leg initialization because default one failed for MovingPlatform\n", "Leg3 waypoints:\n", "\tOrigin: (20, 70, 100.234)\n", "\tTarget: (20, 120, 100.234)\n", "\tNext: (120, 120, 100.234)\n", "\n", "Survey 62.63%\tElapsed 00 00:00:07 Remaining 00 00:00:04\n", "Leg4/5 1.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 62.75%\tElapsed 00 00:00:07 Remaining 00 00:00:04\n", "Leg4/5 2.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 62.88%\tElapsed 00 00:00:07 Remaining 00 00:00:04\n", "Leg4/5 3.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 63.00%\tElapsed 00 00:00:07 Remaining 00 00:00:04\n", "Leg4/5 4.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 63.13%\tElapsed 00 00:00:07 Remaining 00 00:00:04\n", "Leg4/5 5.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 63.25%\tElapsed 00 00:00:07 Remaining 00 00:00:04\n", "Leg4/5 6.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 63.38%\tElapsed 00 00:00:07 Remaining 00 00:00:04\n", "Leg4/5 7.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 63.50%\tElapsed 00 00:00:07 Remaining 00 00:00:04\n", "Leg4/5 8.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 63.63%\tElapsed 00 00:00:07 Remaining 00 00:00:04\n", "Leg4/5 9.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 63.75%\tElapsed 00 00:00:07 Remaining 00 00:00:04\n", "Leg4/5 10.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 63.88%\tElapsed 00 00:00:07 Remaining 00 00:00:04\n", "Leg4/5 11.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 64.00%\tElapsed 00 00:00:07 Remaining 00 00:00:04\n", "Leg4/5 12.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 64.13%\tElapsed 00 00:00:07 Remaining 00 00:00:04\n", "Leg4/5 13.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 64.25%\tElapsed 00 00:00:07 Remaining 00 00:00:04\n", "Leg4/5 14.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 64.38%\tElapsed 00 00:00:07 Remaining 00 00:00:04\n", "Leg4/5 15.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 64.50%\tElapsed 00 00:00:07 Remaining 00 00:00:04\n", "Leg4/5 16.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 64.63%\tElapsed 00 00:00:07 Remaining 00 00:00:04\n", "Leg4/5 17.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 64.75%\tElapsed 00 00:00:07 Remaining 00 00:00:04\n", "Leg4/5 18.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 64.88%\tElapsed 00 00:00:07 Remaining 00 00:00:04\n", "Leg4/5 19.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 65.00%\tElapsed 00 00:00:07 Remaining 00 00:00:04\n", "Leg4/5 20.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 65.13%\tElapsed 00 00:00:07 Remaining 00 00:00:04\n", "Leg4/5 21.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 65.25%\tElapsed 00 00:00:07 Remaining 00 00:00:04\n", "Leg4/5 22.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 65.38%\tElapsed 00 00:00:07 Remaining 00 00:00:04\n", "Leg4/5 23.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 65.50%\tElapsed 00 00:00:07 Remaining 00 00:00:04\n", "Leg4/5 24.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 65.63%\tElapsed 00 00:00:07 Remaining 00 00:00:03\n", "Leg4/5 25.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 65.75%\tElapsed 00 00:00:07 Remaining 00 00:00:03\n", "Leg4/5 26.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 65.88%\tElapsed 00 00:00:07 Remaining 00 00:00:03\n", "Leg4/5 27.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 66.00%\tElapsed 00 00:00:07 Remaining 00 00:00:03\n", "Leg4/5 28.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 66.13%\tElapsed 00 00:00:07 Remaining 00 00:00:03\n", "Leg4/5 29.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 66.25%\tElapsed 00 00:00:07 Remaining 00 00:00:03\n", "Leg4/5 30.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 66.38%\tElapsed 00 00:00:07 Remaining 00 00:00:03\n", "Leg4/5 31.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 66.50%\tElapsed 00 00:00:07 Remaining 00 00:00:03\n", "Leg4/5 32.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 66.63%\tElapsed 00 00:00:07 Remaining 00 00:00:03\n", "Leg4/5 33.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 66.75%\tElapsed 00 00:00:07 Remaining 00 00:00:03\n", "Leg4/5 34.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 66.88%\tElapsed 00 00:00:07 Remaining 00 00:00:03\n", "Leg4/5 35.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 67.00%\tElapsed 00 00:00:07 Remaining 00 00:00:03\n", "Leg4/5 36.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 67.13%\tElapsed 00 00:00:07 Remaining 00 00:00:03\n", "Leg4/5 37.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 67.25%\tElapsed 00 00:00:07 Remaining 00 00:00:03\n", "Leg4/5 38.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 67.38%\tElapsed 00 00:00:07 Remaining 00 00:00:03\n", "Leg4/5 39.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 67.50%\tElapsed 00 00:00:07 Remaining 00 00:00:03\n", "Leg4/5 40.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 67.63%\tElapsed 00 00:00:07 Remaining 00 00:00:03\n", "Leg4/5 41.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 67.75%\tElapsed 00 00:00:07 Remaining 00 00:00:03\n", "Leg4/5 42.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 67.88%\tElapsed 00 00:00:07 Remaining 00 00:00:03\n", "Leg4/5 43.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 68.00%\tElapsed 00 00:00:07 Remaining 00 00:00:03\n", "Leg4/5 44.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 68.13%\tElapsed 00 00:00:07 Remaining 00 00:00:03\n", "Leg4/5 45.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 68.25%\tElapsed 00 00:00:07 Remaining 00 00:00:03\n", "Leg4/5 46.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 68.38%\tElapsed 00 00:00:07 Remaining 00 00:00:03\n", "Leg4/5 47.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 68.50%\tElapsed 00 00:00:07 Remaining 00 00:00:03\n", "Leg4/5 48.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 68.63%\tElapsed 00 00:00:07 Remaining 00 00:00:03\n", "Leg4/5 49.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 68.75%\tElapsed 00 00:00:07 Remaining 00 00:00:03\n", "Leg4/5 50.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 68.88%\tElapsed 00 00:00:07 Remaining 00 00:00:03\n", "Leg4/5 51.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 69.00%\tElapsed 00 00:00:07 Remaining 00 00:00:03\n", "Leg4/5 52.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 69.13%\tElapsed 00 00:00:07 Remaining 00 00:00:03\n", "Leg4/5 53.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 69.25%\tElapsed 00 00:00:07 Remaining 00 00:00:03\n", "Leg4/5 54.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 69.38%\tElapsed 00 00:00:07 Remaining 00 00:00:03\n", "Leg4/5 55.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 69.50%\tElapsed 00 00:00:07 Remaining 00 00:00:03\n", "Leg4/5 56.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 69.63%\tElapsed 00 00:00:07 Remaining 00 00:00:03\n", "Leg4/5 57.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 69.75%\tElapsed 00 00:00:07 Remaining 00 00:00:03\n", "Leg4/5 58.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 69.88%\tElapsed 00 00:00:07 Remaining 00 00:00:03\n", "Leg4/5 59.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 70.00%\tElapsed 00 00:00:07 Remaining 00 00:00:03\n", "Leg4/5 60.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 70.13%\tElapsed 00 00:00:07 Remaining 00 00:00:03\n", "Leg4/5 61.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 70.25%\tElapsed 00 00:00:07 Remaining 00 00:00:03\n", "Leg4/5 62.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 70.38%\tElapsed 00 00:00:07 Remaining 00 00:00:03\n", "Leg4/5 63.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 70.50%\tElapsed 00 00:00:07 Remaining 00 00:00:03\n", "Leg4/5 64.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 70.63%\tElapsed 00 00:00:07 Remaining 00 00:00:03\n", "Leg4/5 65.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 70.75%\tElapsed 00 00:00:07 Remaining 00 00:00:03\n", "Leg4/5 66.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 70.88%\tElapsed 00 00:00:07 Remaining 00 00:00:03\n", "Leg4/5 67.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 71.00%\tElapsed 00 00:00:07 Remaining 00 00:00:03\n", "Leg4/5 68.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 71.13%\tElapsed 00 00:00:07 Remaining 00 00:00:03\n", "Leg4/5 69.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 71.25%\tElapsed 00 00:00:07 Remaining 00 00:00:03\n", "Leg4/5 70.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 71.38%\tElapsed 00 00:00:07 Remaining 00 00:00:03\n", "Leg4/5 71.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 71.50%\tElapsed 00 00:00:07 Remaining 00 00:00:03\n", "Leg4/5 72.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 71.63%\tElapsed 00 00:00:07 Remaining 00 00:00:03\n", "Leg4/5 73.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 71.75%\tElapsed 00 00:00:07 Remaining 00 00:00:03\n", "Leg4/5 74.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 71.88%\tElapsed 00 00:00:07 Remaining 00 00:00:02\n", "Leg4/5 75.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 72.00%\tElapsed 00 00:00:07 Remaining 00 00:00:02\n", "Leg4/5 76.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 72.13%\tElapsed 00 00:00:07 Remaining 00 00:00:02\n", "Leg4/5 77.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 72.25%\tElapsed 00 00:00:07 Remaining 00 00:00:02\n", "Leg4/5 78.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 72.38%\tElapsed 00 00:00:07 Remaining 00 00:00:02\n", "Leg4/5 79.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 72.50%\tElapsed 00 00:00:07 Remaining 00 00:00:02\n", "Leg4/5 80.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 72.63%\tElapsed 00 00:00:07 Remaining 00 00:00:02\n", "Leg4/5 81.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 72.75%\tElapsed 00 00:00:07 Remaining 00 00:00:02\n", "Leg4/5 82.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 72.88%\tElapsed 00 00:00:07 Remaining 00 00:00:02\n", "Leg4/5 83.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 73.00%\tElapsed 00 00:00:07 Remaining 00 00:00:02\n", "Leg4/5 84.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 73.13%\tElapsed 00 00:00:07 Remaining 00 00:00:02\n", "Leg4/5 85.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 73.25%\tElapsed 00 00:00:07 Remaining 00 00:00:02\n", "Leg4/5 86.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 73.38%\tElapsed 00 00:00:07 Remaining 00 00:00:02\n", "Leg4/5 87.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 73.50%\tElapsed 00 00:00:07 Remaining 00 00:00:02\n", "Leg4/5 88.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 73.63%\tElapsed 00 00:00:07 Remaining 00 00:00:02\n", "Leg4/5 89.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 73.75%\tElapsed 00 00:00:07 Remaining 00 00:00:02\n", "Leg4/5 90.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 73.88%\tElapsed 00 00:00:07 Remaining 00 00:00:02\n", "Leg4/5 91.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 74.00%\tElapsed 00 00:00:07 Remaining 00 00:00:02\n", "Leg4/5 92.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 74.13%\tElapsed 00 00:00:07 Remaining 00 00:00:02\n", "Leg4/5 93.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 74.25%\tElapsed 00 00:00:07 Remaining 00 00:00:02\n", "Leg4/5 94.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 74.38%\tElapsed 00 00:00:07 Remaining 00 00:00:02\n", "Leg4/5 95.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 74.50%\tElapsed 00 00:00:07 Remaining 00 00:00:02\n", "Leg4/5 96.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 74.63%\tElapsed 00 00:00:07 Remaining 00 00:00:02\n", "Leg4/5 97.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 74.75%\tElapsed 00 00:00:07 Remaining 00 00:00:02\n", "Leg4/5 98.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 74.88%\tElapsed 00 00:00:07 Remaining 00 00:00:02\n", "Leg4/5 99.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Waypoint reached!\n", "Starting leg 4\n", "\n", "Pulse frequency set to 300000\n", "Scan angle set to 20\n", "Iterative mode was used for manual leg initialization because default one failed for MovingPlatform\n", "Leg4 waypoints:\n", "\tOrigin: (20, 120, 100.234)\n", "\tTarget: (120, 120, 100.234)\n", "\tNext: (120, 120, 100.234)\n", "\n", "Clearing point cloud: \"output//toyblocks_als/2024-02-13_11-05-56/leg004_points.laz\"\n", "Survey 75.25%\tElapsed 00 00:00:07 Remaining 00 00:00:02\n", "Leg5/5 1.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 75.50%\tElapsed 00 00:00:07 Remaining 00 00:00:02\n", "Leg5/5 2.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 75.75%\tElapsed 00 00:00:07 Remaining 00 00:00:02\n", "Leg5/5 3.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 76.00%\tElapsed 00 00:00:07 Remaining 00 00:00:02\n", "Leg5/5 4.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 76.25%\tElapsed 00 00:00:07 Remaining 00 00:00:02\n", "Leg5/5 5.00%\tElapsed 00 00:00:00 Remaining 00 00:00:00\n", "Survey 76.50%\tElapsed 00 00:00:07 Remaining 00 00:00:02\n", "Leg5/5 6.00%\tElapsed 00 00:00:00 Remaining 00 00:00:04\n", "Survey 76.75%\tElapsed 00 00:00:07 Remaining 00 00:00:02\n", "Leg5/5 7.00%\tElapsed 00 00:00:00 Remaining 00 00:00:03\n", "Survey 77.00%\tElapsed 00 00:00:07 Remaining 00 00:00:02\n", "Leg5/5 8.00%\tElapsed 00 00:00:00 Remaining 00 00:00:03\n", "Survey 77.25%\tElapsed 00 00:00:07 Remaining 00 00:00:02\n", "Leg5/5 9.00%\tElapsed 00 00:00:00 Remaining 00 00:00:02\n", "Survey 77.50%\tElapsed 00 00:00:07 Remaining 00 00:00:02\n", "Leg5/5 10.00%\tElapsed 00 00:00:00 Remaining 00 00:00:02\n", "Survey 77.75%\tElapsed 00 00:00:07 Remaining 00 00:00:02\n", "Leg5/5 11.00%\tElapsed 00 00:00:00 Remaining 00 00:00:02\n", "Survey 78.00%\tElapsed 00 00:00:07 Remaining 00 00:00:02\n", "Leg5/5 12.00%\tElapsed 00 00:00:00 Remaining 00 00:00:02\n", "Simulation is running since 0 min and 2 sec. Please wait.Survey 78.25%\tElapsed 00 00:00:08 Remaining 00 00:00:02\n", "Leg5/5 13.00%\tElapsed 00 00:00:00 Remaining 00 00:00:02\n", "Survey 78.50%\tElapsed 00 00:00:08 Remaining 00 00:00:02\n", "Leg5/5 14.00%\tElapsed 00 00:00:00 Remaining 00 00:00:02\n", "Survey 78.75%\tElapsed 00 00:00:08 Remaining 00 00:00:02\n", "Leg5/5 15.00%\tElapsed 00 00:00:00 Remaining 00 00:00:02\n", "Survey 79.00%\tElapsed 00 00:00:08 Remaining 00 00:00:02\n", "Leg5/5 16.00%\tElapsed 00 00:00:00 Remaining 00 00:00:01\n", "Survey 79.25%\tElapsed 00 00:00:08 Remaining 00 00:00:02\n", "Leg5/5 17.00%\tElapsed 00 00:00:00 Remaining 00 00:00:01\n", "Survey 79.50%\tElapsed 00 00:00:08 Remaining 00 00:00:02\n", "Leg5/5 18.00%\tElapsed 00 00:00:00 Remaining 00 00:00:01\n", "Survey 79.75%\tElapsed 00 00:00:08 Remaining 00 00:00:02\n", "Leg5/5 19.00%\tElapsed 00 00:00:00 Remaining 00 00:00:01\n", "Survey 80.00%\tElapsed 00 00:00:08 Remaining 00 00:00:02\n", "Leg5/5 20.00%\tElapsed 00 00:00:00 Remaining 00 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reached!\n", "Elapsed simulation steps = 4000006\n", "Elapsed virtual time = 13.3334 sec.\n", "Main thread simulation loop finished in 8.93335 sec.\n", "Waiting for completion of pulse computation tasks...\n", "Pulse computation tasks finished in 8.93341 sec.\n", "\n", "Simulation has finished.\n" ] } ], "source": [ "import time\n", "\n", "sim.start()\n", "\n", "if sim.isStarted():\n", " print(\"Simulation is started!\")\n", "\n", "time.sleep(1.0)\n", "sim.pause()\n", "\n", "if sim.isPaused():\n", " print(\"Simulation is paused!\")\n", "\n", "if not sim.isRunning():\n", " print(\"Simulation is not running.\")\n", "\n", "time.sleep(5)\n", "start_time = time.time()\n", "sim.resume()\n", "\n", "if sim.isRunning():\n", " print(\"Simulation is resumed!\")\n", "\n", "while sim.isRunning():\n", " duration = time.time() - start_time\n", " mins = duration // 60\n", " secs = duration % 60\n", " print(\n", " \"\\r\"\n", " + \"Simulation is running since {} min and {} sec. Please wait.\".format(\n", " int(mins), int(secs)\n", " ),\n", " end=\"\",\n", " )\n", " time.sleep(1)\n", "\n", "if sim.isFinished():\n", " print(\"\\nSimulation has finished.\")" ] }, { "cell_type": "markdown", "id": "4c37e3c1", "metadata": {}, "source": [ "## Output Handling\n", "\n", "If final output was enabled (`simBuilder.setFinalOutput(True)`)., the simulation output, i.e. measurement and trajectory points, can be accessed using `sim.join()`." ] }, { "cell_type": "code", "execution_count": 8, "id": "26589610", "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Trajectory starting point : (-30.0, -50.0, 100.0)\n", "Trajectory end point : (69.9, 50.0, 100.0)\n" ] } ], "source": [ "# Create instance of PyHeliosOutputWrapper class using sim.join().\n", "# Contains attributes 'measurements' and 'trajectories' which are Python wrappers\n", "# of classes that contain the output vectors.\n", "output = sim.join()\n", "\n", "# Create instances of vector classes by accessing 'measurements' and 'trajectories' attributes of output wrapper.\n", "measurements = output.measurements\n", "trajectories = output.trajectories\n", "\n", "# Each element of vectors contains a measurement point or point in trajectory respectively.\n", "# Access through getPosition().\n", "starting_point = trajectories[0].getPosition()\n", "end_point = trajectories[len(trajectories) - 1].getPosition()\n", "\n", "# Access individual x, y and z vals.\n", "print(\n", " f\"Trajectory starting point : ({starting_point.x}, {starting_point.y}, {starting_point.z})\"\n", ")\n", "print(\n", " f\"Trajectory end point : ({end_point.x:.1f}, {end_point.y:.1f}, {end_point.z:.1f})\"\n", ")" ] }, { "cell_type": "markdown", "id": "c725a98f", "metadata": {}, "source": [ "`pyhelios` contains additional tools for output handling (pyhelios/output_handling.py). These allow to convert the trajectory and point outputs to lists or numpy arrays." ] }, { "cell_type": "code", "execution_count": 9, "id": "cf678697", "metadata": {}, "outputs": [], "source": [ "meas_array, traj_array = pyhelios.outputToNumpy(output)" ] }, { "cell_type": "code", "execution_count": 10, "id": "41887ac9", "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "\n", "First three rows of measurement array:\n", "\n", "[[-24.944 -13.595 0.012 20.003 20.085 100.994 0.047 0.339 -0.940\n", " 79595.041 0.000 1.000 1.000 33.000 0.000 0.000 209147000106667.000]\n", " [-29.846 -13.246 0.012 20.000 20.085 100.994 0.001 0.342 -0.940\n", " 76492.360 0.000 1.000 1.000 1.000 0.000 0.000 209147000000000.000]\n", " [-20.132 -14.596 0.012 20.006 20.085 100.994 0.092 0.329 -0.940\n", " 76281.575 0.000 1.000 1.000 65.000 0.000 0.000 209147000213334.000]]\n", "\n", "First three rows of trajectory array:\n", "\n", "[[-30.000 -50.000 100.000 209147000000000.000 0.000 0.000 4.712]\n", " [-29.700 -50.000 100.000 209147010000031.000 0.000 0.000 4.712]\n", " [-29.400 -50.000 100.000 209147020000062.000 0.000 0.000 4.712]]\n", "\n" ] } ], "source": [ "import numpy as np\n", "\n", "np.set_printoptions(formatter={\"float\": \"{0:0.3f}\".format})\n", "print(\n", " f\"\"\"\n", "First three rows of measurement array:\n", "\n", "{meas_array[:3, :]}\n", "\n", "First three rows of trajectory array:\n", "\n", "{traj_array[:3, :]}\n", "\"\"\"\n", ")" ] }, { "cell_type": "markdown", "id": "d5a9217a", "metadata": {}, "source": [ "Columns of the measurements array:\n", "\n", "| 0 | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 |\n", "|:------:|:------:|:------:|:------:|:------:|:------:|:------:|:------:|:------:|:------:|:------:|:------:|:------:|:------:|:------:|:------:|\n", "| pos.x | pos.y | pos.z | ori.x | ori.y | ori.z | dir.x | dir.y | dir.z | intensity | echoWidth | NumberOfReturns | ReturnNumber | FullwaveIndex | classification | gpsTime |\n", "\n", "\n", "Columns of the trajectories array:\n", "\n", "\n", "| 0 | 1 | 2 | 3 | 4 | 5 | 6 |\n", "|:------:|:------:|:------:|:------:|:------:|:------:|:------:|\n", "| pos.x | pos.y | pos.z | gpsTime | roll | pitch | yaw |" ] }, { "cell_type": "markdown", "id": "b37c38d1", "metadata": {}, "source": [] }, { "cell_type": "markdown", "id": "575f2374", "metadata": {}, "source": [] } ], "metadata": { "kernelspec": { "display_name": "Python 3 (ipykernel)", "language": "python", "name": "python3" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 3 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", "version": "3.11.7" } }, "nbformat": 4, "nbformat_minor": 5 }