pyhelios
¶This page will give an introduction on using HELIOS++ python bindings with pyhelios
.
pyhelios
allows you to:
pyhelios
¶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.
Before importing, make sure that the HELIOS++ root directory is either the current working folder or added to the PATH environment variable.
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
.
import pyhelios
print(pyhelios.__version__)
0.1.dev1003+g06ef94c.d20240213
import os
os.chdir("..")
# pyhelios.loggingQuiet()
# pyhelios.loggingSilent()
pyhelios.loggingDefault()
# pyhelios.loggingVerbose()
# pyhelios.loggingVerbose2()
# Set seed for default random number generator.
pyhelios.setDefaultRandomnessGeneratorSeed("123")
simBuilder = pyhelios.SimulationBuilder(
"data/surveys/toyblocks/als_toyblocks.xml", "assets/", "output/"
)
# simBuilder.setNumThreads(1) # use only one thread (to ensure reproducibility)
simBuilder.setLasOutput(True)
simBuilder.setZipOutput(True)
simBuilder.setCallbackFrequency(10) # Run with callback
simBuilder.setFinalOutput(True) # Return output at join
# simBuilder.setExportToFile(False) # Disable export point cloud to file
simBuilder.setRebuildScene(True)
sim = simBuilder.build()
SimulationBuilder is building simulation ... SimulationBuilder built simulation in 0.03192284699980519 seconds xmlDocFilename: als_toyblocks.xml xmlDocFilePath: data/surveys/toyblocks xmlDocFilename: scanners_als.xml xmlDocFilePath: data Using default value for attribute 'averagePower_w' : 4 Using default value for attribute 'beamQualityFactor' : 1 Using default value for attribute 'opticalEfficiency' : 0.99 Using default value for attribute 'receiverDiameter_m' : 0.15 Using default value for attribute 'atmosphericVisibility_km' : 23 Scanner: riegl_vq-880g Device[0]: riegl_vq-880g Average Power: 4 W Beam Divergence: 0.3 mrad Wavelength: 1064 nm Visibility: 23 km Using default value for attribute 'maxNOR' : 0 Using default value for attribute 'rangeMax_m' : 1.79769e+308 Using default value for attribute 'headRotatePerSecMax_deg' : 0 Number of subsampling rays (riegl_vq-880g): 19 xmlDocFilename: platforms.xml xmlDocFilePath: data Using default value for attribute 'y' : 0 Using default value for attribute 'x' : 0 Number of subsampling rays (riegl_vq-880g): 19 Using default value for attribute 'numRuns' : 1 Using default value for attribute 'simSpeed' : 1 Using default value for attribute 'stripId' : NULL_STRIP_ID Using platform default value for attribute 'x' : 0 Using platform default value for attribute 'y' : 0 Using platform default value for attribute 'onGround' : 0 Using platform default value for attribute 'stopAndTurn' : 1 Using platform default value for attribute 'smoothTurn' : 0 Using platform default value for attribute 'slowdownEnabled' : 1 Using default value for attribute 'name' : Unnamed platformSettings asset Using platform default value for attribute 'z' : 100 Using platform default value for attribute 'onGround' : 0 Using platform default value for attribute 'stopAndTurn' : 1 Using platform default value for attribute 'smoothTurn' : 0 Using platform default value for attribute 'slowdownEnabled' : 1 Using platform default value for attribute 'movePerSec_m' : 30 Using scanner default value for attribute 'beamDivergence_rad' : 0.003 Using default value for attribute 'name' : Unnamed scannerSettings asset Using scanner default value for attribute 'active' : 1 Using scanner default value for attribute 'pulseFreq_hz' : 300000 Using scanner default value for attribute 'scanFreq_hz' : 200 Using scanner default value for attribute 'beamDivergence_rad' : 0.003 Using scanner default value for attribute 'trajectoryTimeInterval_s' : 0.01 Using default value for attribute 'stripId' : NULL_STRIP_ID Using platform default value for attribute 'z' : 100 Using platform default value for attribute 'onGround' : 0 Using platform default value for attribute 'stopAndTurn' : 1 Using platform default value for attribute 'smoothTurn' : 0 Using platform default value for attribute 'slowdownEnabled' : 1 Using platform default value for attribute 'movePerSec_m' : 30 Using scanner default value for attribute 'pulseFreq_hz' : 300000 Using scanner default value for attribute 'scanFreq_hz' : 200 Using scanner default value for attribute 'beamDivergence_rad' : 0.003 Using scanner default value for attribute 'trajectoryTimeInterval_s' : 0.01 Using default value for attribute 'stripId' : NULL_STRIP_ID Using platform default value for attribute 'z' : 100 Using platform default value for attribute 'onGround' : 0 Using platform default value for attribute 'stopAndTurn' : 1 Using platform default value for attribute 'smoothTurn' : 0 Using platform default value for attribute 'slowdownEnabled' : 1 Using platform default value for attribute 'movePerSec_m' : 30 Using scanner default value for attribute 'active' : 1 Using scanner default value for attribute 'pulseFreq_hz' : 300000 Using scanner default value for attribute 'scanFreq_hz' : 200 Using scanner default value for attribute 'beamDivergence_rad' : 0.003 Using scanner default value for attribute 'trajectoryTimeInterval_s' : 0.01 Using default value for attribute 'stripId' : NULL_STRIP_ID Using platform default value for attribute 'z' : 100 Using platform default value for attribute 'onGround' : 0 Using platform default value for attribute 'stopAndTurn' : 1 Using platform default value for attribute 'smoothTurn' : 0 Using platform default value for attribute 'slowdownEnabled' : 1 Using platform default value for attribute 'movePerSec_m' : 30 Using scanner default value for attribute 'pulseFreq_hz' : 300000 Using scanner default value for attribute 'scanFreq_hz' : 200 Using scanner default value for attribute 'beamDivergence_rad' : 0.003 Using scanner default value for attribute 'trajectoryTimeInterval_s' : 0.01 Using default value for attribute 'stripId' : NULL_STRIP_ID Using platform default value for attribute 'z' : 100 Using platform default value for attribute 'onGround' : 0 Using platform default value for attribute 'stopAndTurn' : 1 Using platform default value for attribute 'smoothTurn' : 0 Using platform default value for attribute 'slowdownEnabled' : 1 Using platform default value for attribute 'movePerSec_m' : 30 Using scanner default value for attribute 'active' : 1 Using scanner default value for attribute 'pulseFreq_hz' : 300000 Using scanner default value for attribute 'scanFreq_hz' : 200 Using scanner default value for attribute 'beamDivergence_rad' : 0.003 Using scanner default value for attribute 'trajectoryTimeInterval_s' : 0.01 Using default value for attribute 'stripId' : NULL_STRIP_ID Using platform default value for attribute 'z' : 100 Using platform default value for attribute 'onGround' : 0 Using platform default value for attribute 'stopAndTurn' : 1 Using platform default value for attribute 'smoothTurn' : 0 Using platform default value for attribute 'slowdownEnabled' : 1 Using platform default value for attribute 'movePerSec_m' : 30 Using scanner default value for attribute 'pulseFreq_hz' : 300000 Using scanner default value for attribute 'scanFreq_hz' : 200 Using scanner default value for attribute 'beamDivergence_rad' : 0.003 Using scanner default value for attribute 'trajectoryTimeInterval_s' : 0.01 Loading Scene... xmlDocFilename: toyblocks_scene.xml xmlDocFilePath: data/scenes/toyblocks Failed to read 'up'-axis from scene XML file. Assuming 'z' axis points upwards for scene part "data/sceneparts/basic/groundplane/groundplane.obj". Set up axis explicitly to silence this warning. C++ Exception: boost::bad_get: failed value get using boost::get Failed to read 'up'-axis from scene XML file. Assuming 'z' axis points upwards for scene part "data/sceneparts/toyblocks/cube.obj". Set up axis explicitly to silence this warning. C++ Exception: boost::bad_get: failed value get using boost::get Failed to read 'up'-axis from scene XML file. Assuming 'z' axis points upwards for scene part "data/sceneparts/toyblocks/cube.obj". Set up axis explicitly to silence this warning. C++ Exception: boost::bad_get: failed value get using boost::get Failed to read 'up'-axis from scene XML file. Assuming 'z' axis points upwards for scene part "data/sceneparts/toyblocks/sphere.obj". Set up axis explicitly to silence this warning. C++ Exception: boost::bad_get: failed value get using boost::get Failed to read 'up'-axis from scene XML file. Assuming 'z' axis points upwards for scene part "data/sceneparts/toyblocks/cylinder.obj". Set up axis explicitly to silence this warning. C++ Exception: boost::bad_get: failed value get using boost::get 5 sceneparts loaded in 0.014s CRS bounding box (by vertices): Min: dvec3(-50.000000, -70.000000, -0.233912), Max: dvec3(90.000000, 70.000000, 22.012018) Shift: dvec3(-50.000000, -70.000000, -0.233912) # vertices to translate: 3330 Actual bounding box (by vertices): Min: dvec3(0.000000, 0.000000, 0.000000), Max: dvec3(140.000000, 140.000000, 22.245930) Writing serial scene wrapper object to data/scenes/toyblocks/toyblocks_scene.scene ... Building KD-Grove... KDTree (num. primitives 1110) : Max. # primitives in leaf: 34 Min. # primitives in leaf: 1 Max. depth reached: 29 KDTree axis-aligned surface area: 51657.7 Interior nodes: 3927 Leaf nodes: 3483 Total tree cost: 6.50883 KDGrove stats: Number of trees: 1 Number of static trees: 1 Number of dynamic trees: 0 Statistics (min, max, total, mean, stdev): Building time: (0.0030, 0.0030, 0.0030, 0.0030, 0.0000) Tree primitives: (1110, 1110, 1110, 1110.0000, 0.0000) Max primitives in leaf: (34, 34, 34, 34.0000, 0.0000) Min primitives in leaf: (1, 1, 1, 1.0000, 0.0000) Maximum depth: (29, 29, 29, 29.0000, 0.0000) Axis-aligned surface area: (51657.7208, 51657.7208, 51657.7208, 51657.7208, 0.0000) Number of interior nodes: (3927, 3927, 3927, 3927.0000, 0.0000) Number of leaf nodes: (3483, 3483, 3483, 3483.0000, 0.0000) Tree cost: (6.5088, 6.5088, 6.5088, 6.5088, 0.0000) KDG built in 0.003s Scene loaded in 0.028s Reading Spectral Library...
Simulations can also be paused, resumed and stopped:
sim.start()
sim.pause()
sim.resume()
sim.stop()
With various functions, we can find out the simulation status.
sim.isStarted()
sim.isRunning()
sim.isPaused()
sim.isStopped()
sim.isFinished()
import time
sim.start()
if sim.isStarted():
print("Simulation is started!")
time.sleep(1.0)
sim.pause()
if sim.isPaused():
print("Simulation is paused!")
if not sim.isRunning():
print("Simulation is not running.")
time.sleep(5)
start_time = time.time()
sim.resume()
if sim.isRunning():
print("Simulation is resumed!")
while sim.isRunning():
duration = time.time() - start_time
mins = duration // 60
secs = duration % 60
print(
"\r"
+ "Simulation is running since {} min and {} sec. Please wait.".format(
int(mins), int(secs)
),
end="",
)
time.sleep(1)
if sim.isFinished():
print("\nSimulation has finished.")
Simulation is started! Output directory: "output//toyblocks_als/2024-02-13_11-05-56/" Simulation: Scanner changed! Starting leg 0 Pulse frequency set to 300000 Scan angle set to 20 Iterative mode was used for manual leg initialization because default one failed for MovingPlatform Leg0 waypoints: Origin: (20, 20, 100.234) Target: (120, 20, 100.234) Next: (120, 70, 100.234) Clearing point cloud: "output//toyblocks_als/2024-02-13_11-05-56/leg000_points.laz" Survey 0.25% Elapsed 00 00:00:00 Remaining 00 00:00:03 Leg1/5 1.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 0.50% Elapsed 00 00:00:00 Remaining 00 00:00:03 Leg1/5 2.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 0.75% Elapsed 00 00:00:00 Remaining 00 00:00:03 Leg1/5 3.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 1.00% Elapsed 00 00:00:00 Remaining 00 00:00:03 Leg1/5 4.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 1.25% Elapsed 00 00:00:00 Remaining 00 00:00:03 Leg1/5 5.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 1.50% Elapsed 00 00:00:00 Remaining 00 00:00:03 Leg1/5 6.00% Elapsed 00 00:00:00 Remaining 00 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Leg1/5 87.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Simulation is paused! Simulation is not running. Simulation is resumed! Simulation is running since 0 min and 0 sec. Please wait.Survey 22.00% Elapsed 00 00:00:06 Remaining 00 00:00:21 Leg1/5 88.00% Elapsed 00 00:00:06 Remaining 00 00:00:00 Survey 22.25% Elapsed 00 00:00:06 Remaining 00 00:00:21 Leg1/5 89.00% Elapsed 00 00:00:06 Remaining 00 00:00:00 Survey 22.50% Elapsed 00 00:00:06 Remaining 00 00:00:20 Leg1/5 90.00% Elapsed 00 00:00:06 Remaining 00 00:00:00 Survey 22.75% Elapsed 00 00:00:06 Remaining 00 00:00:20 Leg1/5 91.00% Elapsed 00 00:00:06 Remaining 00 00:00:00 Survey 23.00% Elapsed 00 00:00:06 Remaining 00 00:00:20 Leg1/5 92.00% Elapsed 00 00:00:06 Remaining 00 00:00:00 Survey 23.25% Elapsed 00 00:00:06 Remaining 00 00:00:20 Leg1/5 93.00% Elapsed 00 00:00:06 Remaining 00 00:00:00 Survey 23.50% Elapsed 00 00:00:06 Remaining 00 00:00:19 Leg1/5 94.00% Elapsed 00 00:00:06 Remaining 00 00:00:00 Survey 23.75% Elapsed 00 00:00:06 Remaining 00 00:00:19 Leg1/5 95.00% Elapsed 00 00:00:06 Remaining 00 00:00:00 Survey 24.00% Elapsed 00 00:00:06 Remaining 00 00:00:19 Leg1/5 96.00% Elapsed 00 00:00:06 Remaining 00 00:00:00 Survey 24.25% Elapsed 00 00:00:06 Remaining 00 00:00:19 Leg1/5 97.00% Elapsed 00 00:00:06 Remaining 00 00:00:00 Survey 24.50% Elapsed 00 00:00:06 Remaining 00 00:00:18 Leg1/5 98.00% Elapsed 00 00:00:06 Remaining 00 00:00:00 Survey 24.75% Elapsed 00 00:00:06 Remaining 00 00:00:18 Leg1/5 99.00% Elapsed 00 00:00:06 Remaining 00 00:00:00 Waypoint reached! Starting leg 1 Pulse frequency set to 300000 Scan angle set to 20 Leg1 waypoints: Origin: (120, 20, 100.234) Target: (120, 70, 100.234) Next: (20, 70, 100.234) Survey 25.13% Elapsed 00 00:00:06 Remaining 00 00:00:18 Leg2/5 1.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 25.25% Elapsed 00 00:00:06 Remaining 00 00:00:18 Leg2/5 2.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 25.38% Elapsed 00 00:00:06 Remaining 00 00:00:18 Leg2/5 3.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 25.50% Elapsed 00 00:00:06 Remaining 00 00:00:17 Leg2/5 4.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 25.63% Elapsed 00 00:00:06 Remaining 00 00:00:17 Leg2/5 5.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 25.75% Elapsed 00 00:00:06 Remaining 00 00:00:17 Leg2/5 6.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 25.88% Elapsed 00 00:00:06 Remaining 00 00:00:17 Leg2/5 7.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 26.00% Elapsed 00 00:00:06 Remaining 00 00:00:17 Leg2/5 8.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 26.13% Elapsed 00 00:00:06 Remaining 00 00:00:17 Leg2/5 9.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 26.25% Elapsed 00 00:00:06 Remaining 00 00:00:17 Leg2/5 10.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 26.38% Elapsed 00 00:00:06 Remaining 00 00:00:17 Leg2/5 11.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 26.50% Elapsed 00 00:00:06 Remaining 00 00:00:17 Leg2/5 12.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 26.63% Elapsed 00 00:00:06 Remaining 00 00:00:16 Leg2/5 13.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 26.75% Elapsed 00 00:00:06 Remaining 00 00:00:16 Leg2/5 14.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 26.88% Elapsed 00 00:00:06 Remaining 00 00:00:16 Leg2/5 15.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 27.00% Elapsed 00 00:00:06 Remaining 00 00:00:16 Leg2/5 16.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 27.13% Elapsed 00 00:00:06 Remaining 00 00:00:16 Leg2/5 17.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 27.25% Elapsed 00 00:00:06 Remaining 00 00:00:16 Leg2/5 18.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 27.38% Elapsed 00 00:00:06 Remaining 00 00:00:16 Leg2/5 19.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 27.50% Elapsed 00 00:00:06 Remaining 00 00:00:16 Leg2/5 20.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 27.63% Elapsed 00 00:00:06 Remaining 00 00:00:16 Leg2/5 21.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 27.75% Elapsed 00 00:00:06 Remaining 00 00:00:15 Leg2/5 22.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 27.88% Elapsed 00 00:00:06 Remaining 00 00:00:15 Leg2/5 23.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 28.00% Elapsed 00 00:00:06 Remaining 00 00:00:15 Leg2/5 24.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 28.13% Elapsed 00 00:00:06 Remaining 00 00:00:15 Leg2/5 25.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 28.25% Elapsed 00 00:00:06 Remaining 00 00:00:15 Leg2/5 26.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 28.38% Elapsed 00 00:00:06 Remaining 00 00:00:15 Leg2/5 27.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 28.50% Elapsed 00 00:00:06 Remaining 00 00:00:15 Leg2/5 28.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 28.63% Elapsed 00 00:00:06 Remaining 00 00:00:15 Leg2/5 29.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 28.75% Elapsed 00 00:00:06 Remaining 00 00:00:15 Leg2/5 30.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 28.88% Elapsed 00 00:00:06 Remaining 00 00:00:15 Leg2/5 31.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 29.00% Elapsed 00 00:00:06 Remaining 00 00:00:15 Leg2/5 32.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 29.13% Elapsed 00 00:00:06 Remaining 00 00:00:14 Leg2/5 33.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 29.25% Elapsed 00 00:00:06 Remaining 00 00:00:14 Leg2/5 34.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 29.38% Elapsed 00 00:00:06 Remaining 00 00:00:14 Leg2/5 35.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 29.50% Elapsed 00 00:00:06 Remaining 00 00:00:14 Leg2/5 36.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 29.63% Elapsed 00 00:00:06 Remaining 00 00:00:14 Leg2/5 37.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 29.75% Elapsed 00 00:00:06 Remaining 00 00:00:14 Leg2/5 38.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 29.88% Elapsed 00 00:00:06 Remaining 00 00:00:14 Leg2/5 39.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 30.00% Elapsed 00 00:00:06 Remaining 00 00:00:14 Leg2/5 40.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 30.13% Elapsed 00 00:00:06 Remaining 00 00:00:14 Leg2/5 41.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 30.25% Elapsed 00 00:00:06 Remaining 00 00:00:14 Leg2/5 42.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 30.38% Elapsed 00 00:00:06 Remaining 00 00:00:14 Leg2/5 43.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 30.50% Elapsed 00 00:00:06 Remaining 00 00:00:14 Leg2/5 44.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 30.63% Elapsed 00 00:00:06 Remaining 00 00:00:13 Leg2/5 45.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 30.75% Elapsed 00 00:00:06 Remaining 00 00:00:13 Leg2/5 46.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 30.88% Elapsed 00 00:00:06 Remaining 00 00:00:13 Leg2/5 47.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 31.00% Elapsed 00 00:00:06 Remaining 00 00:00:13 Leg2/5 48.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 31.13% Elapsed 00 00:00:06 Remaining 00 00:00:13 Leg2/5 49.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 31.25% Elapsed 00 00:00:06 Remaining 00 00:00:13 Leg2/5 50.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 31.38% Elapsed 00 00:00:06 Remaining 00 00:00:13 Leg2/5 51.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 31.50% Elapsed 00 00:00:06 Remaining 00 00:00:13 Leg2/5 52.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 31.63% Elapsed 00 00:00:06 Remaining 00 00:00:13 Leg2/5 53.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 31.75% Elapsed 00 00:00:06 Remaining 00 00:00:13 Leg2/5 54.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 31.88% Elapsed 00 00:00:06 Remaining 00 00:00:13 Leg2/5 55.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 32.00% Elapsed 00 00:00:06 Remaining 00 00:00:13 Leg2/5 56.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 32.13% Elapsed 00 00:00:06 Remaining 00 00:00:13 Leg2/5 57.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 32.25% Elapsed 00 00:00:06 Remaining 00 00:00:12 Leg2/5 58.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 32.38% Elapsed 00 00:00:06 Remaining 00 00:00:12 Leg2/5 59.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 32.50% Elapsed 00 00:00:06 Remaining 00 00:00:12 Leg2/5 60.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 32.63% Elapsed 00 00:00:06 Remaining 00 00:00:12 Leg2/5 61.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 32.75% Elapsed 00 00:00:06 Remaining 00 00:00:12 Leg2/5 62.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 32.88% Elapsed 00 00:00:06 Remaining 00 00:00:12 Leg2/5 63.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 33.00% Elapsed 00 00:00:06 Remaining 00 00:00:12 Leg2/5 64.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 33.13% Elapsed 00 00:00:06 Remaining 00 00:00:12 Leg2/5 65.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 33.25% Elapsed 00 00:00:06 Remaining 00 00:00:12 Leg2/5 66.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 33.38% Elapsed 00 00:00:06 Remaining 00 00:00:12 Leg2/5 67.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 33.50% Elapsed 00 00:00:06 Remaining 00 00:00:12 Leg2/5 68.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 33.63% Elapsed 00 00:00:06 Remaining 00 00:00:12 Leg2/5 69.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 33.75% Elapsed 00 00:00:06 Remaining 00 00:00:12 Leg2/5 70.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 33.88% Elapsed 00 00:00:06 Remaining 00 00:00:12 Leg2/5 71.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 34.00% Elapsed 00 00:00:06 Remaining 00 00:00:11 Leg2/5 72.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 34.13% Elapsed 00 00:00:06 Remaining 00 00:00:11 Leg2/5 73.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 34.25% Elapsed 00 00:00:06 Remaining 00 00:00:11 Leg2/5 74.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 34.38% Elapsed 00 00:00:06 Remaining 00 00:00:11 Leg2/5 75.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 34.50% Elapsed 00 00:00:06 Remaining 00 00:00:11 Leg2/5 76.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 34.63% Elapsed 00 00:00:06 Remaining 00 00:00:11 Leg2/5 77.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 34.75% Elapsed 00 00:00:06 Remaining 00 00:00:11 Leg2/5 78.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 34.88% Elapsed 00 00:00:06 Remaining 00 00:00:11 Leg2/5 79.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 35.00% Elapsed 00 00:00:06 Remaining 00 00:00:11 Leg2/5 80.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 35.13% Elapsed 00 00:00:06 Remaining 00 00:00:11 Leg2/5 81.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 35.25% Elapsed 00 00:00:06 Remaining 00 00:00:11 Leg2/5 82.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 35.38% Elapsed 00 00:00:06 Remaining 00 00:00:11 Leg2/5 83.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 35.50% Elapsed 00 00:00:06 Remaining 00 00:00:11 Leg2/5 84.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 35.63% Elapsed 00 00:00:06 Remaining 00 00:00:11 Leg2/5 85.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 35.75% Elapsed 00 00:00:06 Remaining 00 00:00:11 Leg2/5 86.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 35.88% Elapsed 00 00:00:06 Remaining 00 00:00:11 Leg2/5 87.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 36.00% Elapsed 00 00:00:06 Remaining 00 00:00:10 Leg2/5 88.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 36.13% Elapsed 00 00:00:06 Remaining 00 00:00:10 Leg2/5 89.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 36.25% Elapsed 00 00:00:06 Remaining 00 00:00:10 Leg2/5 90.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 36.38% Elapsed 00 00:00:06 Remaining 00 00:00:10 Leg2/5 91.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 36.50% Elapsed 00 00:00:06 Remaining 00 00:00:10 Leg2/5 92.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 36.63% Elapsed 00 00:00:06 Remaining 00 00:00:10 Leg2/5 93.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 36.75% Elapsed 00 00:00:06 Remaining 00 00:00:10 Leg2/5 94.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 36.88% Elapsed 00 00:00:06 Remaining 00 00:00:10 Leg2/5 95.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 37.00% Elapsed 00 00:00:06 Remaining 00 00:00:10 Leg2/5 96.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 37.13% Elapsed 00 00:00:06 Remaining 00 00:00:10 Leg2/5 97.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 37.25% Elapsed 00 00:00:06 Remaining 00 00:00:10 Leg2/5 98.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 37.38% Elapsed 00 00:00:06 Remaining 00 00:00:10 Leg2/5 99.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Waypoint reached! Starting leg 2 Pulse frequency set to 300000 Scan angle set to 20 Leg2 waypoints: Origin: (120, 70, 100.234) Target: (20, 70, 100.234) Next: (20, 120, 100.234) Clearing point cloud: "output//toyblocks_als/2024-02-13_11-05-56/leg002_points.laz" Survey 37.75% Elapsed 00 00:00:06 Remaining 00 00:00:10 Leg3/5 1.00% Elapsed 00 00:00:00 Remaining 00 00:00:01 Survey 38.00% Elapsed 00 00:00:06 Remaining 00 00:00:10 Leg3/5 2.00% Elapsed 00 00:00:00 Remaining 00 00:00:01 Survey 38.25% Elapsed 00 00:00:06 Remaining 00 00:00:10 Leg3/5 3.00% Elapsed 00 00:00:00 Remaining 00 00:00:01 Survey 38.50% Elapsed 00 00:00:06 Remaining 00 00:00:09 Leg3/5 4.00% Elapsed 00 00:00:00 Remaining 00 00:00:01 Survey 38.75% Elapsed 00 00:00:06 Remaining 00 00:00:09 Leg3/5 5.00% Elapsed 00 00:00:00 Remaining 00 00:00:01 Survey 39.00% Elapsed 00 00:00:06 Remaining 00 00:00:09 Leg3/5 6.00% Elapsed 00 00:00:00 Remaining 00 00:00:01 Survey 39.25% Elapsed 00 00:00:06 Remaining 00 00:00:09 Leg3/5 7.00% Elapsed 00 00:00:00 Remaining 00 00:00:01 Survey 39.50% Elapsed 00 00:00:06 Remaining 00 00:00:09 Leg3/5 8.00% Elapsed 00 00:00:00 Remaining 00 00:00:01 Survey 39.75% Elapsed 00 00:00:06 Remaining 00 00:00:09 Leg3/5 9.00% Elapsed 00 00:00:00 Remaining 00 00:00:01 Survey 40.00% Elapsed 00 00:00:06 Remaining 00 00:00:09 Leg3/5 10.00% Elapsed 00 00:00:00 Remaining 00 00:00:01 Survey 40.25% Elapsed 00 00:00:06 Remaining 00 00:00:09 Leg3/5 11.00% Elapsed 00 00:00:00 Remaining 00 00:00:01 Survey 40.50% Elapsed 00 00:00:06 Remaining 00 00:00:09 Leg3/5 12.00% Elapsed 00 00:00:00 Remaining 00 00:00:01 Survey 40.75% Elapsed 00 00:00:06 Remaining 00 00:00:09 Leg3/5 13.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 41.00% Elapsed 00 00:00:06 Remaining 00 00:00:09 Leg3/5 14.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 41.25% Elapsed 00 00:00:06 Remaining 00 00:00:09 Leg3/5 15.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 41.50% Elapsed 00 00:00:06 Remaining 00 00:00:08 Leg3/5 16.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 41.75% Elapsed 00 00:00:06 Remaining 00 00:00:08 Leg3/5 17.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 42.00% Elapsed 00 00:00:06 Remaining 00 00:00:08 Leg3/5 18.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 42.25% Elapsed 00 00:00:06 Remaining 00 00:00:08 Leg3/5 19.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 42.50% Elapsed 00 00:00:06 Remaining 00 00:00:08 Leg3/5 20.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 42.75% Elapsed 00 00:00:06 Remaining 00 00:00:08 Leg3/5 21.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 43.00% Elapsed 00 00:00:06 Remaining 00 00:00:08 Leg3/5 22.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 43.25% Elapsed 00 00:00:06 Remaining 00 00:00:08 Leg3/5 23.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 43.50% Elapsed 00 00:00:06 Remaining 00 00:00:08 Leg3/5 24.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 43.75% Elapsed 00 00:00:06 Remaining 00 00:00:08 Leg3/5 25.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 44.00% Elapsed 00 00:00:06 Remaining 00 00:00:08 Leg3/5 26.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 44.25% Elapsed 00 00:00:06 Remaining 00 00:00:08 Leg3/5 27.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 44.50% Elapsed 00 00:00:06 Remaining 00 00:00:08 Leg3/5 28.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 44.75% Elapsed 00 00:00:06 Remaining 00 00:00:08 Leg3/5 29.00% Elapsed 00 00:00:00 Remaining 00 00:00:01 Survey 45.00% Elapsed 00 00:00:06 Remaining 00 00:00:08 Leg3/5 30.00% Elapsed 00 00:00:00 Remaining 00 00:00:01 Survey 45.25% Elapsed 00 00:00:06 Remaining 00 00:00:08 Leg3/5 31.00% Elapsed 00 00:00:00 Remaining 00 00:00:01 Survey 45.50% Elapsed 00 00:00:06 Remaining 00 00:00:08 Leg3/5 32.00% Elapsed 00 00:00:00 Remaining 00 00:00:01 Survey 45.75% Elapsed 00 00:00:06 Remaining 00 00:00:07 Leg3/5 33.00% Elapsed 00 00:00:00 Remaining 00 00:00:01 Survey 46.00% Elapsed 00 00:00:06 Remaining 00 00:00:07 Leg3/5 34.00% Elapsed 00 00:00:00 Remaining 00 00:00:01 Survey 46.25% Elapsed 00 00:00:06 Remaining 00 00:00:07 Leg3/5 35.00% Elapsed 00 00:00:00 Remaining 00 00:00:01 Survey 46.50% Elapsed 00 00:00:06 Remaining 00 00:00:07 Leg3/5 36.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 46.75% Elapsed 00 00:00:06 Remaining 00 00:00:07 Leg3/5 37.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 47.00% Elapsed 00 00:00:06 Remaining 00 00:00:07 Leg3/5 38.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 47.25% Elapsed 00 00:00:06 Remaining 00 00:00:07 Leg3/5 39.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 47.50% Elapsed 00 00:00:06 Remaining 00 00:00:07 Leg3/5 40.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 47.75% Elapsed 00 00:00:06 Remaining 00 00:00:07 Leg3/5 41.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 48.00% Elapsed 00 00:00:06 Remaining 00 00:00:07 Leg3/5 42.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 48.25% Elapsed 00 00:00:06 Remaining 00 00:00:07 Leg3/5 43.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 48.50% Elapsed 00 00:00:06 Remaining 00 00:00:07 Leg3/5 44.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 48.75% Elapsed 00 00:00:06 Remaining 00 00:00:07 Leg3/5 45.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 49.00% Elapsed 00 00:00:06 Remaining 00 00:00:07 Leg3/5 46.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 49.25% Elapsed 00 00:00:06 Remaining 00 00:00:07 Leg3/5 47.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 49.50% Elapsed 00 00:00:06 Remaining 00 00:00:07 Leg3/5 48.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 49.75% Elapsed 00 00:00:06 Remaining 00 00:00:07 Leg3/5 49.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 50.00% Elapsed 00 00:00:06 Remaining 00 00:00:06 Leg3/5 50.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 50.25% Elapsed 00 00:00:06 Remaining 00 00:00:06 Leg3/5 51.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 50.50% Elapsed 00 00:00:06 Remaining 00 00:00:06 Leg3/5 52.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Simulation is running since 0 min and 1 sec. Please wait.Survey 50.75% Elapsed 00 00:00:07 Remaining 00 00:00:06 Leg3/5 53.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 51.00% Elapsed 00 00:00:07 Remaining 00 00:00:06 Leg3/5 54.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 51.25% Elapsed 00 00:00:07 Remaining 00 00:00:06 Leg3/5 55.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 51.50% Elapsed 00 00:00:07 Remaining 00 00:00:06 Leg3/5 56.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 51.75% Elapsed 00 00:00:07 Remaining 00 00:00:06 Leg3/5 57.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 52.00% Elapsed 00 00:00:07 Remaining 00 00:00:06 Leg3/5 58.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 52.25% Elapsed 00 00:00:07 Remaining 00 00:00:06 Leg3/5 59.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 52.50% Elapsed 00 00:00:07 Remaining 00 00:00:06 Leg3/5 60.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 52.75% Elapsed 00 00:00:07 Remaining 00 00:00:06 Leg3/5 61.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 53.00% Elapsed 00 00:00:07 Remaining 00 00:00:06 Leg3/5 62.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 53.25% Elapsed 00 00:00:07 Remaining 00 00:00:06 Leg3/5 63.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 53.50% Elapsed 00 00:00:07 Remaining 00 00:00:06 Leg3/5 64.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 53.75% Elapsed 00 00:00:07 Remaining 00 00:00:06 Leg3/5 65.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 54.00% Elapsed 00 00:00:07 Remaining 00 00:00:06 Leg3/5 66.00% Elapsed 00 00:00:01 Remaining 00 00:00:00 Survey 54.25% Elapsed 00 00:00:07 Remaining 00 00:00:06 Leg3/5 67.00% Elapsed 00 00:00:01 Remaining 00 00:00:00 Survey 54.50% Elapsed 00 00:00:07 Remaining 00 00:00:06 Leg3/5 68.00% Elapsed 00 00:00:01 Remaining 00 00:00:00 Survey 54.75% Elapsed 00 00:00:07 Remaining 00 00:00:05 Leg3/5 69.00% Elapsed 00 00:00:01 Remaining 00 00:00:00 Survey 55.00% Elapsed 00 00:00:07 Remaining 00 00:00:05 Leg3/5 70.00% Elapsed 00 00:00:01 Remaining 00 00:00:00 Survey 55.25% Elapsed 00 00:00:07 Remaining 00 00:00:05 Leg3/5 71.00% Elapsed 00 00:00:01 Remaining 00 00:00:00 Survey 55.50% Elapsed 00 00:00:07 Remaining 00 00:00:05 Leg3/5 72.00% Elapsed 00 00:00:01 Remaining 00 00:00:00 Survey 55.75% Elapsed 00 00:00:07 Remaining 00 00:00:05 Leg3/5 73.00% Elapsed 00 00:00:01 Remaining 00 00:00:00 Survey 56.00% Elapsed 00 00:00:07 Remaining 00 00:00:05 Leg3/5 74.00% Elapsed 00 00:00:01 Remaining 00 00:00:00 Survey 56.25% Elapsed 00 00:00:07 Remaining 00 00:00:05 Leg3/5 75.00% Elapsed 00 00:00:01 Remaining 00 00:00:00 Survey 56.50% Elapsed 00 00:00:07 Remaining 00 00:00:05 Leg3/5 76.00% Elapsed 00 00:00:01 Remaining 00 00:00:00 Survey 56.75% Elapsed 00 00:00:07 Remaining 00 00:00:05 Leg3/5 77.00% Elapsed 00 00:00:01 Remaining 00 00:00:00 Survey 57.00% Elapsed 00 00:00:07 Remaining 00 00:00:05 Leg3/5 78.00% Elapsed 00 00:00:01 Remaining 00 00:00:00 Survey 57.25% Elapsed 00 00:00:07 Remaining 00 00:00:05 Leg3/5 79.00% Elapsed 00 00:00:01 Remaining 00 00:00:00 Survey 57.50% Elapsed 00 00:00:07 Remaining 00 00:00:05 Leg3/5 80.00% Elapsed 00 00:00:01 Remaining 00 00:00:00 Survey 57.75% Elapsed 00 00:00:07 Remaining 00 00:00:05 Leg3/5 81.00% Elapsed 00 00:00:01 Remaining 00 00:00:00 Survey 58.00% Elapsed 00 00:00:07 Remaining 00 00:00:05 Leg3/5 82.00% Elapsed 00 00:00:01 Remaining 00 00:00:00 Survey 58.25% Elapsed 00 00:00:07 Remaining 00 00:00:05 Leg3/5 83.00% Elapsed 00 00:00:01 Remaining 00 00:00:00 Survey 58.50% Elapsed 00 00:00:07 Remaining 00 00:00:05 Leg3/5 84.00% Elapsed 00 00:00:01 Remaining 00 00:00:00 Survey 58.75% Elapsed 00 00:00:07 Remaining 00 00:00:05 Leg3/5 85.00% Elapsed 00 00:00:01 Remaining 00 00:00:00 Survey 59.00% Elapsed 00 00:00:07 Remaining 00 00:00:05 Leg3/5 86.00% Elapsed 00 00:00:01 Remaining 00 00:00:00 Survey 59.25% Elapsed 00 00:00:07 Remaining 00 00:00:05 Leg3/5 87.00% Elapsed 00 00:00:01 Remaining 00 00:00:00 Survey 59.50% Elapsed 00 00:00:07 Remaining 00 00:00:05 Leg3/5 88.00% Elapsed 00 00:00:01 Remaining 00 00:00:00 Survey 59.75% Elapsed 00 00:00:07 Remaining 00 00:00:05 Leg3/5 89.00% Elapsed 00 00:00:01 Remaining 00 00:00:00 Survey 60.00% Elapsed 00 00:00:07 Remaining 00 00:00:04 Leg3/5 90.00% Elapsed 00 00:00:01 Remaining 00 00:00:00 Survey 60.25% Elapsed 00 00:00:07 Remaining 00 00:00:04 Leg3/5 91.00% Elapsed 00 00:00:01 Remaining 00 00:00:00 Survey 60.50% Elapsed 00 00:00:07 Remaining 00 00:00:04 Leg3/5 92.00% Elapsed 00 00:00:01 Remaining 00 00:00:00 Survey 60.75% Elapsed 00 00:00:07 Remaining 00 00:00:04 Leg3/5 93.00% Elapsed 00 00:00:01 Remaining 00 00:00:00 Survey 61.00% Elapsed 00 00:00:07 Remaining 00 00:00:04 Leg3/5 94.00% Elapsed 00 00:00:01 Remaining 00 00:00:00 Survey 61.25% Elapsed 00 00:00:07 Remaining 00 00:00:04 Leg3/5 95.00% Elapsed 00 00:00:01 Remaining 00 00:00:00 Survey 61.50% Elapsed 00 00:00:07 Remaining 00 00:00:04 Leg3/5 96.00% Elapsed 00 00:00:01 Remaining 00 00:00:00 Survey 61.75% Elapsed 00 00:00:07 Remaining 00 00:00:04 Leg3/5 97.00% Elapsed 00 00:00:01 Remaining 00 00:00:00 Survey 62.00% Elapsed 00 00:00:07 Remaining 00 00:00:04 Leg3/5 98.00% Elapsed 00 00:00:01 Remaining 00 00:00:00 Survey 62.25% Elapsed 00 00:00:07 Remaining 00 00:00:04 Leg3/5 99.00% Elapsed 00 00:00:01 Remaining 00 00:00:00 Waypoint reached! Starting leg 3 Pulse frequency set to 300000 Scan angle set to 20 Iterative mode was used for manual leg initialization because default one failed for MovingPlatform Leg3 waypoints: Origin: (20, 70, 100.234) Target: (20, 120, 100.234) Next: (120, 120, 100.234) Survey 62.63% Elapsed 00 00:00:07 Remaining 00 00:00:04 Leg4/5 1.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 62.75% Elapsed 00 00:00:07 Remaining 00 00:00:04 Leg4/5 2.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 62.88% Elapsed 00 00:00:07 Remaining 00 00:00:04 Leg4/5 3.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 63.00% Elapsed 00 00:00:07 Remaining 00 00:00:04 Leg4/5 4.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 63.13% Elapsed 00 00:00:07 Remaining 00 00:00:04 Leg4/5 5.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 63.25% Elapsed 00 00:00:07 Remaining 00 00:00:04 Leg4/5 6.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 63.38% Elapsed 00 00:00:07 Remaining 00 00:00:04 Leg4/5 7.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 63.50% Elapsed 00 00:00:07 Remaining 00 00:00:04 Leg4/5 8.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 63.63% Elapsed 00 00:00:07 Remaining 00 00:00:04 Leg4/5 9.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 63.75% Elapsed 00 00:00:07 Remaining 00 00:00:04 Leg4/5 10.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 63.88% Elapsed 00 00:00:07 Remaining 00 00:00:04 Leg4/5 11.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 64.00% Elapsed 00 00:00:07 Remaining 00 00:00:04 Leg4/5 12.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 64.13% Elapsed 00 00:00:07 Remaining 00 00:00:04 Leg4/5 13.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 64.25% Elapsed 00 00:00:07 Remaining 00 00:00:04 Leg4/5 14.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 64.38% Elapsed 00 00:00:07 Remaining 00 00:00:04 Leg4/5 15.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 64.50% Elapsed 00 00:00:07 Remaining 00 00:00:04 Leg4/5 16.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 64.63% Elapsed 00 00:00:07 Remaining 00 00:00:04 Leg4/5 17.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 64.75% Elapsed 00 00:00:07 Remaining 00 00:00:04 Leg4/5 18.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 64.88% Elapsed 00 00:00:07 Remaining 00 00:00:04 Leg4/5 19.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 65.00% Elapsed 00 00:00:07 Remaining 00 00:00:04 Leg4/5 20.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 65.13% Elapsed 00 00:00:07 Remaining 00 00:00:04 Leg4/5 21.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 65.25% Elapsed 00 00:00:07 Remaining 00 00:00:04 Leg4/5 22.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 65.38% Elapsed 00 00:00:07 Remaining 00 00:00:04 Leg4/5 23.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 65.50% Elapsed 00 00:00:07 Remaining 00 00:00:04 Leg4/5 24.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 65.63% Elapsed 00 00:00:07 Remaining 00 00:00:03 Leg4/5 25.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 65.75% Elapsed 00 00:00:07 Remaining 00 00:00:03 Leg4/5 26.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 65.88% Elapsed 00 00:00:07 Remaining 00 00:00:03 Leg4/5 27.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 66.00% Elapsed 00 00:00:07 Remaining 00 00:00:03 Leg4/5 28.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 66.13% Elapsed 00 00:00:07 Remaining 00 00:00:03 Leg4/5 29.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 66.25% Elapsed 00 00:00:07 Remaining 00 00:00:03 Leg4/5 30.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 66.38% Elapsed 00 00:00:07 Remaining 00 00:00:03 Leg4/5 31.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 66.50% Elapsed 00 00:00:07 Remaining 00 00:00:03 Leg4/5 32.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 66.63% Elapsed 00 00:00:07 Remaining 00 00:00:03 Leg4/5 33.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 66.75% Elapsed 00 00:00:07 Remaining 00 00:00:03 Leg4/5 34.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 66.88% Elapsed 00 00:00:07 Remaining 00 00:00:03 Leg4/5 35.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 67.00% Elapsed 00 00:00:07 Remaining 00 00:00:03 Leg4/5 36.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 67.13% Elapsed 00 00:00:07 Remaining 00 00:00:03 Leg4/5 37.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 67.25% Elapsed 00 00:00:07 Remaining 00 00:00:03 Leg4/5 38.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 67.38% Elapsed 00 00:00:07 Remaining 00 00:00:03 Leg4/5 39.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 67.50% Elapsed 00 00:00:07 Remaining 00 00:00:03 Leg4/5 40.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 67.63% Elapsed 00 00:00:07 Remaining 00 00:00:03 Leg4/5 41.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 67.75% Elapsed 00 00:00:07 Remaining 00 00:00:03 Leg4/5 42.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 67.88% Elapsed 00 00:00:07 Remaining 00 00:00:03 Leg4/5 43.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 68.00% Elapsed 00 00:00:07 Remaining 00 00:00:03 Leg4/5 44.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 68.13% Elapsed 00 00:00:07 Remaining 00 00:00:03 Leg4/5 45.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 68.25% Elapsed 00 00:00:07 Remaining 00 00:00:03 Leg4/5 46.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 68.38% Elapsed 00 00:00:07 Remaining 00 00:00:03 Leg4/5 47.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 68.50% Elapsed 00 00:00:07 Remaining 00 00:00:03 Leg4/5 48.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 68.63% Elapsed 00 00:00:07 Remaining 00 00:00:03 Leg4/5 49.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 68.75% Elapsed 00 00:00:07 Remaining 00 00:00:03 Leg4/5 50.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 68.88% Elapsed 00 00:00:07 Remaining 00 00:00:03 Leg4/5 51.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 69.00% Elapsed 00 00:00:07 Remaining 00 00:00:03 Leg4/5 52.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 69.13% Elapsed 00 00:00:07 Remaining 00 00:00:03 Leg4/5 53.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 69.25% Elapsed 00 00:00:07 Remaining 00 00:00:03 Leg4/5 54.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 69.38% Elapsed 00 00:00:07 Remaining 00 00:00:03 Leg4/5 55.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 69.50% Elapsed 00 00:00:07 Remaining 00 00:00:03 Leg4/5 56.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 69.63% Elapsed 00 00:00:07 Remaining 00 00:00:03 Leg4/5 57.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 69.75% Elapsed 00 00:00:07 Remaining 00 00:00:03 Leg4/5 58.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 69.88% Elapsed 00 00:00:07 Remaining 00 00:00:03 Leg4/5 59.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 70.00% Elapsed 00 00:00:07 Remaining 00 00:00:03 Leg4/5 60.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 70.13% Elapsed 00 00:00:07 Remaining 00 00:00:03 Leg4/5 61.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 70.25% Elapsed 00 00:00:07 Remaining 00 00:00:03 Leg4/5 62.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 70.38% Elapsed 00 00:00:07 Remaining 00 00:00:03 Leg4/5 63.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 70.50% Elapsed 00 00:00:07 Remaining 00 00:00:03 Leg4/5 64.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 70.63% Elapsed 00 00:00:07 Remaining 00 00:00:03 Leg4/5 65.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 70.75% Elapsed 00 00:00:07 Remaining 00 00:00:03 Leg4/5 66.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 70.88% Elapsed 00 00:00:07 Remaining 00 00:00:03 Leg4/5 67.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 71.00% Elapsed 00 00:00:07 Remaining 00 00:00:03 Leg4/5 68.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 71.13% Elapsed 00 00:00:07 Remaining 00 00:00:03 Leg4/5 69.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 71.25% Elapsed 00 00:00:07 Remaining 00 00:00:03 Leg4/5 70.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 71.38% Elapsed 00 00:00:07 Remaining 00 00:00:03 Leg4/5 71.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 71.50% Elapsed 00 00:00:07 Remaining 00 00:00:03 Leg4/5 72.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 71.63% Elapsed 00 00:00:07 Remaining 00 00:00:03 Leg4/5 73.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 71.75% Elapsed 00 00:00:07 Remaining 00 00:00:03 Leg4/5 74.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 71.88% Elapsed 00 00:00:07 Remaining 00 00:00:02 Leg4/5 75.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 72.00% Elapsed 00 00:00:07 Remaining 00 00:00:02 Leg4/5 76.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 72.13% Elapsed 00 00:00:07 Remaining 00 00:00:02 Leg4/5 77.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 72.25% Elapsed 00 00:00:07 Remaining 00 00:00:02 Leg4/5 78.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 72.38% Elapsed 00 00:00:07 Remaining 00 00:00:02 Leg4/5 79.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 72.50% Elapsed 00 00:00:07 Remaining 00 00:00:02 Leg4/5 80.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 72.63% Elapsed 00 00:00:07 Remaining 00 00:00:02 Leg4/5 81.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 72.75% Elapsed 00 00:00:07 Remaining 00 00:00:02 Leg4/5 82.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 72.88% Elapsed 00 00:00:07 Remaining 00 00:00:02 Leg4/5 83.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 73.00% Elapsed 00 00:00:07 Remaining 00 00:00:02 Leg4/5 84.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 73.13% Elapsed 00 00:00:07 Remaining 00 00:00:02 Leg4/5 85.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 73.25% Elapsed 00 00:00:07 Remaining 00 00:00:02 Leg4/5 86.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 73.38% Elapsed 00 00:00:07 Remaining 00 00:00:02 Leg4/5 87.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 73.50% Elapsed 00 00:00:07 Remaining 00 00:00:02 Leg4/5 88.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 73.63% Elapsed 00 00:00:07 Remaining 00 00:00:02 Leg4/5 89.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 73.75% Elapsed 00 00:00:07 Remaining 00 00:00:02 Leg4/5 90.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 73.88% Elapsed 00 00:00:07 Remaining 00 00:00:02 Leg4/5 91.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 74.00% Elapsed 00 00:00:07 Remaining 00 00:00:02 Leg4/5 92.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 74.13% Elapsed 00 00:00:07 Remaining 00 00:00:02 Leg4/5 93.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 74.25% Elapsed 00 00:00:07 Remaining 00 00:00:02 Leg4/5 94.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 74.38% Elapsed 00 00:00:07 Remaining 00 00:00:02 Leg4/5 95.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 74.50% Elapsed 00 00:00:07 Remaining 00 00:00:02 Leg4/5 96.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 74.63% Elapsed 00 00:00:07 Remaining 00 00:00:02 Leg4/5 97.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 74.75% Elapsed 00 00:00:07 Remaining 00 00:00:02 Leg4/5 98.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 74.88% Elapsed 00 00:00:07 Remaining 00 00:00:02 Leg4/5 99.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Waypoint reached! Starting leg 4 Pulse frequency set to 300000 Scan angle set to 20 Iterative mode was used for manual leg initialization because default one failed for MovingPlatform Leg4 waypoints: Origin: (20, 120, 100.234) Target: (120, 120, 100.234) Next: (120, 120, 100.234) Clearing point cloud: "output//toyblocks_als/2024-02-13_11-05-56/leg004_points.laz" Survey 75.25% Elapsed 00 00:00:07 Remaining 00 00:00:02 Leg5/5 1.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 75.50% Elapsed 00 00:00:07 Remaining 00 00:00:02 Leg5/5 2.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 75.75% Elapsed 00 00:00:07 Remaining 00 00:00:02 Leg5/5 3.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 76.00% Elapsed 00 00:00:07 Remaining 00 00:00:02 Leg5/5 4.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 76.25% Elapsed 00 00:00:07 Remaining 00 00:00:02 Leg5/5 5.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 76.50% Elapsed 00 00:00:07 Remaining 00 00:00:02 Leg5/5 6.00% Elapsed 00 00:00:00 Remaining 00 00:00:04 Survey 76.75% Elapsed 00 00:00:07 Remaining 00 00:00:02 Leg5/5 7.00% Elapsed 00 00:00:00 Remaining 00 00:00:03 Survey 77.00% Elapsed 00 00:00:07 Remaining 00 00:00:02 Leg5/5 8.00% Elapsed 00 00:00:00 Remaining 00 00:00:03 Survey 77.25% Elapsed 00 00:00:07 Remaining 00 00:00:02 Leg5/5 9.00% Elapsed 00 00:00:00 Remaining 00 00:00:02 Survey 77.50% Elapsed 00 00:00:07 Remaining 00 00:00:02 Leg5/5 10.00% Elapsed 00 00:00:00 Remaining 00 00:00:02 Survey 77.75% Elapsed 00 00:00:07 Remaining 00 00:00:02 Leg5/5 11.00% Elapsed 00 00:00:00 Remaining 00 00:00:02 Survey 78.00% Elapsed 00 00:00:07 Remaining 00 00:00:02 Leg5/5 12.00% Elapsed 00 00:00:00 Remaining 00 00:00:02 Simulation is running since 0 min and 2 sec. Please wait.Survey 78.25% Elapsed 00 00:00:08 Remaining 00 00:00:02 Leg5/5 13.00% Elapsed 00 00:00:00 Remaining 00 00:00:02 Survey 78.50% Elapsed 00 00:00:08 Remaining 00 00:00:02 Leg5/5 14.00% Elapsed 00 00:00:00 Remaining 00 00:00:02 Survey 78.75% Elapsed 00 00:00:08 Remaining 00 00:00:02 Leg5/5 15.00% Elapsed 00 00:00:00 Remaining 00 00:00:02 Survey 79.00% Elapsed 00 00:00:08 Remaining 00 00:00:02 Leg5/5 16.00% Elapsed 00 00:00:00 Remaining 00 00:00:01 Survey 79.25% Elapsed 00 00:00:08 Remaining 00 00:00:02 Leg5/5 17.00% Elapsed 00 00:00:00 Remaining 00 00:00:01 Survey 79.50% Elapsed 00 00:00:08 Remaining 00 00:00:02 Leg5/5 18.00% Elapsed 00 00:00:00 Remaining 00 00:00:01 Survey 79.75% Elapsed 00 00:00:08 Remaining 00 00:00:02 Leg5/5 19.00% Elapsed 00 00:00:00 Remaining 00 00:00:01 Survey 80.00% Elapsed 00 00:00:08 Remaining 00 00:00:02 Leg5/5 20.00% Elapsed 00 00:00:00 Remaining 00 00:00:01 Survey 80.25% Elapsed 00 00:00:08 Remaining 00 00:00:01 Leg5/5 21.00% Elapsed 00 00:00:00 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Starting leg 5 Pulse frequency set to 300000 Scan angle set to 20 Waypoint reached! Elapsed simulation steps = 4000006 Elapsed virtual time = 13.3334 sec. Main thread simulation loop finished in 8.93335 sec. Waiting for completion of pulse computation tasks... Pulse computation tasks finished in 8.93341 sec. Simulation has finished.
If final output was enabled (simBuilder.setFinalOutput(True)
)., the simulation output, i.e. measurement and trajectory points, can be accessed using sim.join()
.
# Create instance of PyHeliosOutputWrapper class using sim.join().
# Contains attributes 'measurements' and 'trajectories' which are Python wrappers
# of classes that contain the output vectors.
output = sim.join()
# Create instances of vector classes by accessing 'measurements' and 'trajectories' attributes of output wrapper.
measurements = output.measurements
trajectories = output.trajectories
# Each element of vectors contains a measurement point or point in trajectory respectively.
# Access through getPosition().
starting_point = trajectories[0].getPosition()
end_point = trajectories[len(trajectories) - 1].getPosition()
# Access individual x, y and z vals.
print(
f"Trajectory starting point : ({starting_point.x}, {starting_point.y}, {starting_point.z})"
)
print(
f"Trajectory end point : ({end_point.x:.1f}, {end_point.y:.1f}, {end_point.z:.1f})"
)
Trajectory starting point : (-30.0, -50.0, 100.0) Trajectory end point : (69.9, 50.0, 100.0)
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.
meas_array, traj_array = pyhelios.outputToNumpy(output)
import numpy as np
np.set_printoptions(formatter={"float": "{0:0.3f}".format})
print(
f"""
First three rows of measurement array:
{meas_array[:3, :]}
First three rows of trajectory array:
{traj_array[:3, :]}
"""
)
First three rows of measurement array: [[-24.944 -13.595 0.012 20.003 20.085 100.994 0.047 0.339 -0.940 79595.041 0.000 1.000 1.000 33.000 0.000 0.000 209147000106667.000] [-29.846 -13.246 0.012 20.000 20.085 100.994 0.001 0.342 -0.940 76492.360 0.000 1.000 1.000 1.000 0.000 0.000 209147000000000.000] [-20.132 -14.596 0.012 20.006 20.085 100.994 0.092 0.329 -0.940 76281.575 0.000 1.000 1.000 65.000 0.000 0.000 209147000213334.000]] First three rows of trajectory array: [[-30.000 -50.000 100.000 209147000000000.000 0.000 0.000 4.712] [-29.700 -50.000 100.000 209147010000031.000 0.000 0.000 4.712] [-29.400 -50.000 100.000 209147020000062.000 0.000 0.000 4.712]]
Columns of the measurements array:
0 | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 |
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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 |
Columns of the trajectories array:
0 | 1 | 2 | 3 | 4 | 5 | 6 |
---|---|---|---|---|---|---|
pos.x | pos.y | pos.z | gpsTime | roll | pitch | yaw |