This page will give an introduction on using pyhelios
to access and modify surveys.
pyhelios
allows you to:
import math
import pyhelios
import os
os.chdir("..")
pyhelios.loggingDefault()
# build simulation parameters
simBuilder = pyhelios.SimulationBuilder(
"data/surveys/toyblocks/als_toyblocks.xml", "assets/", "output/"
)
simBuilder.setNumThreads(0)
simBuilder.setLasOutput(True)
simBuilder.setZipOutput(True)
# build the survey
simB = simBuilder.build()
SimulationBuilder is building simulation ... SimulationBuilder built simulation in 0.013959017000161111 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... Reading serial scene wrapper object from 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: 3942 Leaf nodes: 3492 Total tree cost: 6.50866 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: (3942, 3942, 3942, 3942.0000, 0.0000) Number of leaf nodes: (3492, 3492, 3492, 3492.0000, 0.0000) Tree cost: (6.5087, 6.5087, 6.5087, 6.5087, 0.0000) KDG built in 0.003s Scene loaded in 0.01s Reading Spectral Library... Using default value for attribute 'seed' : AUTO
Once we built a survey, we have numerous options to obtain and change the characteristics of all components of our simulation. Note that after the steps above, simB is a SimulationBuild object. To access the Simulation itself, we have to call simB.sim.
# obtain survey path and name
survey_path = simB.sim.getSurveyPath()
survey = simB.sim.getSurvey()
survey_name = survey.name
print(survey_name)
toyblocks_als
We can also obtain the survey length, i.e. the distance through all waypoints.
If the survey has not been running yet, survey.getLength()
will return 0.0.
We can calculate the length of a loaded survey of a simulation which was built but not started with survey.calculateLength()
.
survey.getLength()
0.0
survey.calculateLength()
print(survey.getLength())
400.0
Let's have a look at the scanner we are using.
scanner = simB.sim.getScanner()
# print scanner characteristics
print(scanner.toString())
Scanner: riegl_vq-880g Device[0]: riegl_vq-880g Average Power: 4 W Beam Divergence: 0.3 mrad Wavelength: 1064 nm Visibility: 23 km
The scanner characteristics can also be accessed individually:
print(
f"""
{'Device ID:' : <25}{scanner.deviceId : ^8}
{'Average power:' : <25}{scanner.averagePower : <8} W
{'Beam divergence:' : <25}{scanner.beamDivergence : <8} rad
{'Wavelength:' : <25}{scanner.wavelength*1000000000 : <8} nm
{'Scanner visibility:' : <25}{scanner.visibility : <8} km
"""
)
Device ID: riegl_vq-880g Average power: 4.0 W Beam divergence: 0.0003 rad Wavelength: 1064.0 nm Scanner visibility: 23.0 km
The scanner has also some more properties:
if scanner.maxNOR == 0:
max_nor = "unlimited"
else:
max_nor = scanner.maxNOR
print(
f"""
{'Number of subsampling rays:' : <30}{scanner.numRays}
{'Pulse length:' : <30}{scanner.pulseLength_ns} ns
{'Supported pulse frequencies:' : <30}{list(scanner.getSupportedPulseFrequencies())} Hz
{'Maximum number of returns:': <30}{max_nor}
"""
)
Number of subsampling rays: 19 Pulse length: 2.0 ns Supported pulse frequencies: [150000, 300000, 600000, 900000] Hz Maximum number of returns: unlimited
We can also get information about the scanner head, e.g. the maximum rotation speed in case of TLS scanners.
To demonstrate this, let's load a TLS survey.
pyhelios.loggingDefault()
# build simulation parameters
simBuilder = pyhelios.SimulationBuilder(
"data/surveys/demo/tls_arbaro_demo.xml", "assets/", "output/"
)
simBuilder.setNumThreads(0)
simBuilder.setLasOutput(True)
simBuilder.setZipOutput(True)
# build the survey
simB = simBuilder.build()
SimulationBuilder is building simulation ... xmlDocFilename: tls_arbaro_demo.xml xmlDocFilePath: data/surveys/demo xmlDocFilename: scanners_tls.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 Using default value for attribute 'wavelength_nm' : 1064 Scanner: riegl_vz400 Device[0]: riegl_vz400 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 'binSize_ns' : 0.25 Using default value for attribute 'winSize_ns' : 1.25 Using default value for attribute 'maxFullwaveRange_ns' : 0 Number of subsampling rays (riegl_vz400): 19 xmlDocFilename: platforms.xml xmlDocFilePath: data No platform type specified. Using static platform. Using default value for attribuSimulationBuilder built simulation in 1.4786146420001387 seconds te 'winSize_ns' : 1.25 Using default value for attribute 'maxFullwaveRange_ns' : 0 Number of subsampling rays (riegl_vz400): 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 'z' : 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' : 70 Using scanner default value for attribute 'beamDivergence_rad' : 0.003 Using scanner default value for attribute 'trajectoryTimeInterval_s' : 0 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' : 100000 Using scanner default value for attribute 'scanFreq_hz' : 120 Using scanner default value for attribute 'beamDivergence_rad' : 0.003 Using default value for attribute 'stripId' : NULL_STRIP_ID Using platform default value for attribute 'z' : 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' : 70 Using scanner default value for attribute 'active' : 1 Using scanner default value for attribute 'pulseFreq_hz' : 100000 Using scanner default value for attribute 'scanFreq_hz' : 120 Using scanner default value for attribute 'beamDivergence_rad' : 0.003 Loading Scene... Reading serial scene wrapper object from data/scenes/demo/arbaro_demo.scene ... Building KD-Grove... KDTree (num. primitives 226860) : Max. # primitives in leaf: 77 Min. # primitives in leaf: 1 Max. depth reached: 39 KDTree axis-aligned surface area: 91156.3 Interior nodes: 420895 Leaf nodes: 350025 Total tree cost: 6.16344 KDGrove stats: Number of trees: 1 Number of static trees: 1 Number of dynamic trees: 0 Statistics (min, max, total, mean, stdev): Building time: (0.3850, 0.3850, 0.3850, 0.3850, 0.0000) Tree primitives: (226860, 226860, 226860, 226860.0000, 0.0000) Max primitives in leaf: (77, 77, 77, 77.0000, 0.0000) Min primitives in leaf: (1, 1, 1, 1.0000, 0.0000) Maximum depth: (39, 39, 39, 39.0000, 0.0000) Axis-aligned surface area: (91156.3160, 91156.3160, 91156.3160, 91156.3160, 0.0000) Number of interior nodes: (420895, 420895, 420895, 420895.0000, 0.0000) Number of leaf nodes: (350025, 350025, 350025, 350025.0000, 0.0000) Tree cost: (6.1634, 6.1634, 6.1634, 6.1634, 0.0000) KDG built in 0.387s Scene loaded in 1.463s Reading Spectral Library... Using default value for attribute 'seed' : AUTO
scanner = simB.sim.getScanner()
print(scanner.toString())
Scanner: riegl_vz400 Device[0]: riegl_vz400 Average Power: 4 W Beam Divergence: 0.3 mrad Wavelength: 1064 nm Visibility: 23 km
head = scanner.getScannerHead()
# get scanner rotation speed and range
print(
f"""
Max. rotation speed: {round(head.rotatePerSecMax * 180 / math.pi)} degrees per second
"""
)
Max. rotation speed: 60 degrees per second
If we want to obtain information about the scanning mechanism, we have to get the beam deflector.
deflector = scanner.getBeamDeflector()
print(
f"""
{'Scanner deflector type:': <25}{deflector.getOpticsType() : <8}
{'Scan frequency range:' : <25}{deflector.scanFreqMin} - {deflector.scanFreqMax} Hz
{'Scan angle range:' : <25}{round(deflector.scanAngleMax * 180 / math.pi)}° FOV
"""
)
Scanner deflector type: POLYGON_MIRROR Scan frequency range: 3.0 - 120.0 Hz Scan angle range: 120° FOV
From the beam detector, we get information about, e.g., the accuracy of the scanner.
detector = scanner.getDetector()
print(
f"""
{'Accuracy:' : <20}{detector.accuracy} m
{'Minimum range:' : <20}{detector.rangeMin} m
{'Maximum range:': <20}{detector.rangeMax} m
"""
)
Accuracy: 0.005 m Minimum range: 1.5 m Maximum range: 1.7976931348623157e+308 m
We can also get the scanner full waveform settings.
Like many of the scanner settings, they can be overwritten in the scannerSettings
of a leg.
print(
f"""Full waveform settings for {scanner.deviceId}
{'Bin size:' : <25}{scanner.fwfSettings.binSize_ns} ns
{'Window size:' : <25}{scanner.fwfSettings.winSize_ns} ns
{'Beam sample quality:' : <25}{scanner.fwfSettings.beamSampleQuality}
"""
)
Full waveform settings for riegl_vz400 Bin size: 0.2 ns Window size: 1.25 ns Beam sample quality: 3
Each leg of a survey has scanner settings and platform settings, (cf. survey XML file),
which can be accessed and changed with pyhelios
.
# get the first leg
leg = simB.sim.getLeg(0)
# scanner settings
print(
f"""
{'Scanner is active:' : <30}{leg.getScannerSettings().active}
{'Pulse frequency:' : <30}{leg.getScannerSettings().pulseFreq} Hz
{'Scan angle:' : <30}{leg.getScannerSettings().scanAngle * 180 / math.pi}°
{'Minimum vertical angle:' : <30}{leg.getScannerSettings().verticalAngleMin * 180 / math.pi:+.1f}°
{'Maximum vertical angle:' : <30}{round(leg.getScannerSettings().verticalAngleMax * 180 / math.pi):+.1f}°
{'Scan frequency:' : <30}{leg.getScannerSettings().scanFreq} Hz
{'Beam divergence:' : <30}{leg.getScannerSettings().beamDivAngle * 1000} mrad
{'Trajectory time interval:' : <30}{leg.getScannerSettings().trajectoryTimeInterval} s
{'Start angle of head rotation:' : <30}{leg.getScannerSettings().headRotateStart * 180 / math.pi}°
{'Start angle of head rotation:' : <30}{leg.getScannerSettings().headRotateStop * 180 / math.pi}°
{'Rotation speed:' : <30}{leg.getScannerSettings().headRotatePerSec * 180 / math.pi}° per s
"""
)
Scanner is active: True Pulse frequency: 100000 Hz Scan angle: 100.0° Minimum vertical angle: -40.0° Maximum vertical angle: +60.0° Scan frequency: 120.0 Hz Beam divergence: 0.3 mrad Trajectory time interval: 1.0 s Start angle of head rotation: 100.0° Start angle of head rotation: 225.0° Rotation speed: 10.0° per s
Scanner Settings and platform settings may be defined through a template. For this, let's first switch back to the ALS toyblocks demo.
simBuilder = pyhelios.SimulationBuilder(
"data/surveys/toyblocks/als_toyblocks.xml", "assets/", "output/"
)
simBuilder.setNumThreads(0)
simBuilder.setLasOutput(True)
simBuilder.setZipOutput(True)
simB = simBuilder.build()
SimulationBuilder is building simulation ... SimulationBuilder built simulation in 0.016869478999979037 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... Reading serial scene wrapper object from 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: 3921 Leaf nodes: 3475 Total tree cost: 6.50882 KDGrove stats: Number of trees: 1 Number of static trees: 1 Number of dynamic trees: 0 Statistics (min, max, total, mean, stdev): Building time: (0.0040, 0.0040, 0.0040, 0.0040, 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: (3921, 3921, 3921, 3921.0000, 0.0000) Number of leaf nodes: (3475, 3475, 3475, 3475.0000, 0.0000) Tree cost: (6.5088, 6.5088, 6.5088, 6.5088, 0.0000) KDG built in 0.004s Scene loaded in 0.011s Reading Spectral Library... Using default value for attribute 'seed' : AUTO
The template can be accessed for a given ScannerSettings
or PlatformSettings
instance:
leg = simB.sim.getLeg(0)
ss = leg.getScannerSettings()
if ss.hasTemplate():
ss_tmpl = ss.getTemplate()
print(
f"""
Scanner template name: {ss_tmpl.id}
Pulse frequency: {ss_tmpl.pulseFreq/1000} kHz
"""
) # Print the pulse frequency defined in the template
Scanner template name: scanner1 Pulse frequency: 300.0 kHz
ps = leg.getPlatformSettings()
if ps.hasTemplate():
ps_tmpl = ps.getTemplate()
print(
f"""
{'Platform template name:' : <25}{ps_tmpl.id}
{'Speed:' : <15}{ps_tmpl.movePerSec} m/s
{'Altitude:' : <15}{ps_tmpl.z} m
"""
)
Platform template name: platform1 Speed: 30.0 m/s Altitude: 100.0 m
We can also change the template.
ps_tmpl.z += 20
print(f"New altitude: {ps_tmpl.z} m")
New altitude: 120.0 m
We can also obtain the position at the current leg:
print(
f"""
On ground? {leg.getPlatformSettings().onGround}
Position: ({leg.getPlatformSettings().x}, {leg.getPlatformSettings().y}, {leg.getPlatformSettings().z})
"""
)
On ground? False Position: (20.0, 20.0, 100.233912)
If we compare the position here to the position in the XML survey file, we notice that they do not match. The difference is 50 in x direction and 70 in y direction.
When loading a survey, a shift is applied to the scene and to each leg. We can obtain this shift:
scene = simB.sim.getScene()
shift = scene.getShift()
print(f"Shift = ({shift.x},{shift.y},{shift.z})")
Shift = (-50.0,-70.0,-0.233912)
Using a for-loop, we can get the positions of all legs. Note that we add the shift to obtain the true coordinates as specified in the XML-file:
for i in range(simB.sim.getNumLegs()):
leg = simB.sim.getLeg(i)
print(
f"Leg {i}\tposition = "
f"{leg.getPlatformSettings().x+shift.x},"
f"{leg.getPlatformSettings().y+shift.y},"
f"{leg.getPlatformSettings().z+shift.z}\t"
f"active = {leg.getScannerSettings().active}"
)
Leg 0 position = -30.0,-50.0,100.0 active = True Leg 1 position = 70.0,-50.0,100.0 active = False Leg 2 position = 70.0,0.0,100.0 active = True Leg 3 position = -30.0,0.0,100.0 active = False Leg 4 position = -30.0,50.0,100.0 active = True Leg 5 position = 70.0,50.0,100.0 active = False
We can also use a for-loop to create new legs.
Here an example, where we initiate a simulation with a survey with no legs (data/surveys/default_survey.xml
) and
then create the legs with Python.
pyhelios.loggingDefault()
default_survey_path = "data/surveys/default_survey.xml"
# default survey with the toyblocks scene (missing platform and scanner definition and not containing any legs)
survey = """
<?xml version="1.0" encoding="UTF-8"?>
<document>
<survey name="some_survey" scene="data/scenes/toyblocks/toyblocks_scene.xml#toyblocks_scene" platform="data/platforms.xml#copter_linearpath" scanner="data/scanners_als.xml#riegl_vux-1uav">
</survey>
</document>
"""
with open(default_survey_path, "w") as f:
f.write(survey)
simBuilder = pyhelios.SimulationBuilder(default_survey_path, "assets/", "output/")
simBuilder.setCallbackFrequency(10)
simBuilder.setLasOutput(True)
simBuilder.setZipOutput(True)
simBuilder.setRebuildScene(True)
simB = simBuilder.build()
waypoints = [
[100.0, -100.0],
[-100.0, -100.0],
[-100.0, -50.0],
[100.0, -50.0],
[100.0, 0.0],
[-100.0, 0.0],
[-100.0, 50.0],
[100.0, 50.0],
[100.0, 100.0],
[-100.0, 100.0],
]
altitude = 100
speed = 150
pulse_freq = 300_000
scan_freq = 200
scan_angle = 37.5 / 180 * math.pi # convert to rad
shift = simB.sim.getScene().getShift()
for j, wp in enumerate(waypoints):
leg = simB.sim.newLeg(j)
leg.serialId = j # assigning a serialId is important!
leg.getPlatformSettings().x = wp[0] - shift.x # don't forget to apply the shift!
leg.getPlatformSettings().y = wp[1] - shift.y
leg.getPlatformSettings().z = altitude - shift.z
leg.getPlatformSettings().movePerSec = speed
leg.getScannerSettings().pulseFreq = pulse_freq
leg.getScannerSettings().scanFreq = scan_freq
leg.getScannerSettings().scanAngle = scan_angle
leg.getScannerSettings().trajectoryTimeInterval = (
0.05 # important to get a trajectory output
)
if j % 2 != 0:
leg.getScannerSettings().active = False
SimulationBuilder is building simulation ... SimulationBuilder built simulation in 0.0359427469993534 seconds xmlDocFilename: default_survey.xml xmlDocFilePath: data/surveys 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 Using default value for attribute 'wavelength_nm' : 1064 Scanner: riegl_vux-1uav Device[0]: riegl_vux-1uav Average Power: 4 W Beam Divergence: 0.5 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_vux-1uav): 19 xmlDocFilename: platforms.xml xmlDocFilePath: data Number of subsampling rays (riegl_vux-1uav): 19 Using default value for attribute 'numRuns' : 1 Using default value for attribute 'simSpeed' : 1 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 0.017s 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: 3905 Leaf nodes: 3459 Total tree cost: 6.50873 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: (3905, 3905, 3905, 3905.0000, 0.0000) Number of leaf nodes: (3459, 3459, 3459, 3459.0000, 0.0000) Tree cost: (6.5087, 6.5087, 6.5087, 6.5087, 0.0000) KDG built in 0.003s Scene loaded in 0.032s Reading Spectral Library... Using default value for attribute 'seed' : AUTO
Let's execute this survey!
import time
start_time = time.time()
simB.start()
if simB.isStarted():
print("Simulation is started!")
while simB.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)
output = simB.join()
print("\nSimulation has finished.")
Simulation is started! Simulation is running since 0 min and 0 sec. Please wait.Output directory: "output//some_survey/2024-02-13_11-07-21/" Simulation: Scanner changed! Starting leg 0 Pulse frequency set to 300000 Scan angle set to 37.5 Applying settings for PolygonMirrorBeamDeflector... Vertical angle min/max nan/nan -- verticalAngleMin not set, using the value of -37.5 degrees -- verticalAngleMax not set, using the value of 37.5 degrees Leg0 waypoints: Origin: (150, -30, 100.234) Target: (-50, -30, 100.234) Next: (-50, 20, 100.234) Clearing point cloud: "output//some_survey/2024-02-13_11-07-21/leg000_points.laz" Survey 0.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg1/9 1.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 0.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg1/9 2.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 0.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg1/9 3.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 0.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg1/9 4.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 0.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg1/9 5.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 1.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg1/9 6.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 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Starting leg 1 Pulse frequency set to 300000 Scan angle set to 37.5 Applying settings for PolygonMirrorBeamDeflector... Vertical angle min/max nan/nan -- verticalAngleMin not set, using the value of -37.5 degrees -- verticalAngleMax not set, using the value of 37.5 degrees Iterative mode was used for manual leg initialization because default one failed for MovingPlatform Leg1 waypoints: Origin: (-50, -30, 100.234) Target: (-50, 20, 100.234) Next: (150, 20, 100.234) Survey 16.71% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg2/9 1.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 16.75% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg2/9 2.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 16.79% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg2/9 3.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 16.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg2/9 4.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 16.88% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg2/9 5.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 16.92% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg2/9 6.00% Elapsed 00 00:00:00 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Leg2/9 42.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 18.46% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg2/9 43.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 18.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg2/9 44.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 18.54% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg2/9 45.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 18.58% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg2/9 46.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 18.63% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg2/9 47.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 18.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg2/9 48.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 18.71% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg2/9 49.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 18.75% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg2/9 50.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 18.79% Elapsed 00 00:00:00 Remaining 00 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Remaining 00 00:00:00 Leg2/9 60.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 19.21% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg2/9 61.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 19.25% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg2/9 62.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 19.29% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg2/9 63.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 19.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg2/9 64.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 19.38% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg2/9 65.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 19.42% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg2/9 66.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 19.46% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg2/9 67.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 19.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg2/9 68.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 19.54% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg2/9 69.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 19.58% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg2/9 70.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 19.63% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg2/9 71.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 19.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg2/9 72.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 19.71% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg2/9 73.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 19.75% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg2/9 74.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 19.79% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg2/9 75.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 19.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg2/9 76.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 19.88% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg2/9 77.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 19.92% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg2/9 78.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 19.96% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg2/9 79.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 20.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg2/9 80.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 20.04% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg2/9 81.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 20.08% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg2/9 82.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 20.13% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg2/9 83.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 20.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg2/9 84.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 20.21% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg2/9 85.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 20.25% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg2/9 86.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 20.29% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg2/9 87.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 20.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg2/9 88.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 20.38% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg2/9 89.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 20.42% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg2/9 90.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 20.46% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg2/9 91.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 20.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg2/9 92.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 20.54% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg2/9 93.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 20.58% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg2/9 94.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 20.63% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg2/9 95.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 20.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg2/9 96.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 20.71% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg2/9 97.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 20.75% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg2/9 98.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 20.79% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg2/9 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 37.5 Applying settings for PolygonMirrorBeamDeflector... Vertical angle min/max nan/nan -- verticalAngleMin not set, using the value of -37.5 degrees -- verticalAngleMax not set, using the value of 37.5 degrees Iterative mode was used for manual leg initialization because default one failed for MovingPlatform Leg2 waypoints: Origin: (-50, 20, 100.234) Target: (150, 20, 100.234) Next: (150, 70, 100.234) Clearing point cloud: "output//some_survey/2024-02-13_11-07-21/leg002_points.laz" Survey 21.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg3/9 1.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 21.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg3/9 2.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 21.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg3/9 3.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 21.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg3/9 4.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 21.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg3/9 5.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 21.83% 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68.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 32.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg3/9 69.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 32.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg3/9 70.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 32.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg3/9 71.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 32.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg3/9 72.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 33.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg3/9 73.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 33.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg3/9 74.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 33.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg3/9 75.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 33.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg3/9 76.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 33.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg3/9 77.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 33.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg3/9 78.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 34.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg3/9 79.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 34.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg3/9 80.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 34.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg3/9 81.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 34.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg3/9 82.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 34.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg3/9 83.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 34.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg3/9 84.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 35.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg3/9 85.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 35.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg3/9 86.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 35.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg3/9 87.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 35.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg3/9 88.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 35.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg3/9 89.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 35.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg3/9 90.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 36.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg3/9 91.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 36.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg3/9 92.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 36.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg3/9 93.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 36.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg3/9 94.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 36.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg3/9 95.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 36.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg3/9 96.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 37.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg3/9 97.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 37.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg3/9 98.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 37.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg3/9 99.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Waypoint reached! Starting leg 3 Pulse frequency set to 300000 Scan angle set to 37.5 Applying settings for PolygonMirrorBeamDeflector... Vertical angle min/max nan/nan -- verticalAngleMin not set, using the value of -37.5 degrees -- verticalAngleMax not set, using the value of 37.5 degrees Leg3 waypoints: Origin: (150, 20, 100.234) Target: (150, 70, 100.234) Next: (-50, 70, 100.234) Survey 37.54% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 1.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 37.58% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 2.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 37.63% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 3.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 37.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 4.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 37.71% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 5.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 37.75% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 6.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 37.79% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 7.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 37.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 8.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 37.88% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 9.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 37.92% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 10.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 37.96% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 11.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 38.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 12.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 38.04% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 13.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 38.08% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 14.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 38.13% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 15.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 38.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 16.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 38.21% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 17.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 38.25% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 18.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 38.29% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 19.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 38.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 20.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 38.38% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 21.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 38.42% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 22.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 38.46% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 23.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 38.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 24.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 38.54% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 25.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 38.58% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 26.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 38.63% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 27.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 38.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 28.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 38.71% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 29.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 38.75% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 30.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 38.79% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 31.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 38.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 32.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 38.88% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 33.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 38.92% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 34.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 38.96% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 35.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 39.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 36.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 39.04% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 37.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 39.08% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 38.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 39.13% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 39.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 39.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 40.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 39.21% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 41.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 39.25% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 42.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 39.29% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 43.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 39.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 44.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 39.38% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 45.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 39.42% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 46.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 39.46% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 47.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 39.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 48.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 39.54% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 49.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 39.58% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 50.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 39.63% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 51.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 39.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 52.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 39.71% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 53.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 39.75% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 54.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 39.79% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 55.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 39.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 56.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 39.88% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 57.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 39.92% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 58.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 39.96% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 59.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 40.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 60.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 40.04% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 61.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 40.08% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 62.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 40.13% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 63.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 40.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 64.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 40.21% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 65.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 40.25% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 66.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 40.29% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 67.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 40.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 68.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 40.38% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 69.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 40.42% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 70.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 40.46% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 71.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 40.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 72.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 40.54% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 73.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 40.58% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 74.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 40.63% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 75.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 40.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 76.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 40.71% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 77.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 40.75% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 78.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 40.79% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 79.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 40.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 80.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 40.88% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 81.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 40.92% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 82.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 40.96% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 83.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 41.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 84.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 41.04% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 85.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 41.08% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 86.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 41.13% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 87.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 41.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 88.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 41.21% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 89.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 41.25% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 90.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 41.29% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 91.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 41.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 92.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 41.38% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 93.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 41.42% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 94.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 41.46% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 95.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 41.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 96.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 41.54% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 97.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 41.58% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 98.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 41.63% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg4/9 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 37.5 Applying settings for PolygonMirrorBeamDeflector... Vertical angle min/max nan/nan -- verticalAngleMin not set, using the value of -37.5 degrees -- verticalAngleMax not set, using the value of 37.5 degrees Leg4 waypoints: Origin: (150, 70, 100.234) Target: (-50, 70, 100.234) Next: (-50, 120, 100.234) Clearing point cloud: "output//some_survey/2024-02-13_11-07-21/leg004_points.laz" Survey 41.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 1.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 42.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 2.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 42.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 3.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 42.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 4.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 42.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 5.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 42.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 6.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 42.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 7.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 43.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 8.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 43.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 9.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 43.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 10.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 43.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 11.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 43.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 12.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 43.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 13.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 44.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 14.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 44.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 15.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 44.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 16.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 44.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 17.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 44.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 18.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 44.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 19.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 45.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 20.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 45.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 21.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 45.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 22.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 45.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 23.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 45.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 24.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 45.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 25.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 46.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 26.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 46.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 27.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 46.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 28.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 46.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 29.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 46.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 30.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 46.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 31.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 47.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 32.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 47.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 33.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 47.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 34.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 47.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 35.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 47.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 36.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 47.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 37.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 48.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 38.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 48.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 39.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 48.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 40.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 48.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 41.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 48.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 42.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 48.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 43.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 49.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 44.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 49.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 45.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 49.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 46.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 49.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 47.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 49.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 48.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 49.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 49.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 50.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 50.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 50.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 51.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 50.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 52.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 50.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 53.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 50.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 54.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 50.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 55.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 51.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 56.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 51.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 57.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 51.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 58.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 51.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 59.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 51.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 60.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 51.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 61.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 52.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 62.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 52.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 63.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 52.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 64.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 52.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 65.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 52.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 66.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 52.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 67.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 53.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 68.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 53.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 69.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 53.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 70.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 53.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 71.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 53.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 72.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 53.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 73.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 54.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 74.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 54.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 75.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 54.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 76.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 54.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 77.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 54.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 78.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 54.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 79.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 55.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 80.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 55.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 81.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 55.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 82.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 55.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 83.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 55.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 84.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 55.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 85.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 56.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 86.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 56.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 87.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 56.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 88.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 56.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 89.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 56.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 90.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 56.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 91.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 57.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 92.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 57.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 93.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 57.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 94.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 57.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 95.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 57.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 96.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 57.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 97.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 58.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 98.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 58.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg5/9 99.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Waypoint reached! Starting leg 5 Pulse frequency set to 300000 Scan angle set to 37.5 Applying settings for PolygonMirrorBeamDeflector... Vertical angle min/max nan/nan -- verticalAngleMin not set, using the value of -37.5 degrees -- verticalAngleMax not set, using the value of 37.5 degrees Iterative mode was used for manual leg initialization because default one failed for MovingPlatform Leg5 waypoints: Origin: (-50, 70, 100.234) Target: (-50, 120, 100.234) Next: (150, 120, 100.234) Survey 58.38% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 1.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 58.42% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 2.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 58.46% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 3.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 58.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 4.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 58.54% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 5.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 58.58% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 6.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 58.63% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 7.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 58.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 8.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 58.71% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 9.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 58.75% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 10.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 58.79% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 11.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 58.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 12.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 58.88% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 13.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 58.92% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 14.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 58.96% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 15.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 59.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 16.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 59.04% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 17.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 59.08% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 18.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 59.13% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 19.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 59.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 20.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 59.21% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 21.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 59.25% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 22.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 59.29% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 23.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 59.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 24.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 59.38% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 25.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 59.42% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 26.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 59.46% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 27.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 59.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 28.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 59.54% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 29.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 59.58% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 30.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 59.63% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 31.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 59.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 32.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 59.71% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 33.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 59.75% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 34.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 59.79% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 35.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 59.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 36.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 59.88% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 37.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 59.92% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 38.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 59.96% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 39.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 60.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 40.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 60.04% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 41.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 60.08% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 42.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 60.13% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 43.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 60.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 44.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 60.21% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 45.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 60.25% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 46.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 60.29% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 47.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 60.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 48.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 60.38% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 49.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 60.42% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 50.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 60.46% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 51.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 60.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 52.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 60.54% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 53.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 60.58% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 54.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 60.63% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 55.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 60.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 56.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 60.71% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 57.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 60.75% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 58.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 60.79% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 59.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 60.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 60.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 60.88% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 61.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 60.92% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 62.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 60.96% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 63.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 61.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 64.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 61.04% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 65.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 61.08% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 66.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 61.13% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 67.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 61.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 68.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 61.21% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 69.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 61.25% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 70.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 61.29% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 71.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 61.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 72.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 61.38% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 73.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 61.42% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 74.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 61.46% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 75.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 61.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 76.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 61.54% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 77.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 61.58% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 78.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 61.63% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 79.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 61.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 80.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 61.71% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 81.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 61.75% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 82.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 61.79% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 83.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 61.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 84.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 61.88% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 85.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 61.92% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 86.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 61.96% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 87.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 62.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 88.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 62.04% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 89.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 62.08% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 90.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 62.13% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 91.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 62.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 92.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 62.21% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 93.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 62.25% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 94.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 62.29% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 95.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 62.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 96.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 62.38% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 97.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 62.42% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 98.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 62.46% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg6/9 99.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Waypoint reached! Starting leg 6 Pulse frequency set to 300000 Scan angle set to 37.5 Applying settings for PolygonMirrorBeamDeflector... Vertical angle min/max nan/nan -- verticalAngleMin not set, using the value of -37.5 degrees -- verticalAngleMax not set, using the value of 37.5 degrees Iterative mode was used for manual leg initialization because default one failed for MovingPlatform Leg6 waypoints: Origin: (-50, 120, 100.234) Target: (150, 120, 100.234) Next: (150, 170, 100.234) Clearing point cloud: "output//some_survey/2024-02-13_11-07-21/leg006_points.laz" Survey 62.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 1.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 62.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 2.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 63.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 3.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 63.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 4.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 63.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 5.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 63.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 6.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 63.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 7.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 63.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 8.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 64.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 9.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 64.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 10.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 64.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 11.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 64.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 12.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 64.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 13.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 64.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 14.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 65.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 15.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 65.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 16.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 65.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 17.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 65.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 18.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 65.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 19.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 65.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 20.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 66.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 21.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 66.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 22.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 66.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 23.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 66.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 24.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 66.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 25.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 66.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 26.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 67.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 27.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 67.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 28.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 67.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 29.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 67.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 30.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 67.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 31.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 67.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 32.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 68.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 33.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 68.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 34.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 68.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 35.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 68.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 36.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 68.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 37.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 68.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 38.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 69.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 39.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 69.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 40.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 69.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 41.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 69.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 42.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 69.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 43.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 69.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 44.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 70.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 45.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 70.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 46.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 70.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 47.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 70.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 48.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 70.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 49.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 70.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 50.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 71.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 51.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 71.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 52.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 71.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 53.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 71.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 54.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 71.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 55.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 71.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 56.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 72.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 57.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 72.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 58.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 72.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 59.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 72.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 60.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 72.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 61.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 72.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 62.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 73.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 63.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 73.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 64.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 73.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 65.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 73.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 66.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 73.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 67.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 73.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 68.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 74.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 69.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 74.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 70.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 74.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 71.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 74.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 72.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 74.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 73.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 74.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 74.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 75.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 75.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 75.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 76.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 75.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 77.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 75.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 78.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 75.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 79.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 75.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 80.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 76.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 81.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 76.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 82.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 76.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 83.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 76.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 84.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 76.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 85.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 76.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 86.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 77.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 87.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 77.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 88.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 77.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 89.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 77.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 90.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 77.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 91.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 77.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 92.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 78.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 93.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 78.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 94.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 78.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 95.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 78.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 96.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 78.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 97.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 78.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 98.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 79.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg7/9 99.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Waypoint reached! Starting leg 7 Pulse frequency set to 300000 Scan angle set to 37.5 Applying settings for PolygonMirrorBeamDeflector... Vertical angle min/max nan/nan -- verticalAngleMin not set, using the value of -37.5 degrees -- verticalAngleMax not set, using the value of 37.5 degrees Leg7 waypoints: Origin: (150, 120, 100.234) Target: (150, 170, 100.234) Next: (-50, 170, 100.234) Survey 79.21% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 1.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 79.25% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 2.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 79.29% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 3.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 79.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 4.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 79.38% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 5.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 79.42% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 6.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 79.46% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 7.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 79.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 8.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 79.54% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 9.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 79.58% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 10.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 79.63% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 11.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 79.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 12.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 79.71% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 13.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 79.75% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 14.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 79.79% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 15.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 79.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 16.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 79.88% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 17.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 79.92% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 18.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 79.96% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 19.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 80.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 20.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 80.04% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 21.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 80.08% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 22.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 80.13% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 23.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 80.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 24.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 80.21% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 25.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 80.25% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 26.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 80.29% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 27.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 80.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 28.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 80.38% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 29.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 80.42% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 30.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 80.46% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 31.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 80.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 32.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 80.54% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 33.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 80.58% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 34.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 80.63% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 35.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 80.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 36.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 80.71% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 37.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 80.75% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 38.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 80.79% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 39.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 80.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 40.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 80.88% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 41.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 80.92% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 42.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 80.96% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 43.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 81.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 44.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 81.04% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 45.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 81.08% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 46.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 81.13% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 47.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 81.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 48.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 81.21% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 49.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 81.25% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 50.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 81.29% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 51.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 81.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 52.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 81.38% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 53.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 81.42% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 54.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 81.46% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 55.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 81.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 56.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 81.54% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 57.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 81.58% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 58.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 81.63% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 59.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 81.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 60.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 81.71% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 61.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 81.75% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 62.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 81.79% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 63.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 81.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 64.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 81.88% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 65.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 81.92% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 66.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 81.96% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 67.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 82.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 68.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 82.04% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 69.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 82.08% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 70.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 82.13% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 71.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 82.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 72.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 82.21% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 73.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 82.25% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 74.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 82.29% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 75.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 82.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 76.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 82.38% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 77.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 82.42% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 78.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 82.46% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 79.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 82.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 80.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 82.54% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 81.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 82.58% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 82.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 82.63% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 83.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 82.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 84.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 82.71% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 85.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 82.75% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 86.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 82.79% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 87.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 82.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 88.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 82.88% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 89.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 82.92% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 90.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 82.96% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 91.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 83.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 92.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 83.04% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 93.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 83.08% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 94.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 83.13% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 95.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 83.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 96.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 83.21% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 97.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 83.25% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 98.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 83.29% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg8/9 99.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Waypoint reached! Starting leg 8 Pulse frequency set to 300000 Scan angle set to 37.5 Applying settings for PolygonMirrorBeamDeflector... Vertical angle min/max nan/nan -- verticalAngleMin not set, using the value of -37.5 degrees -- verticalAngleMax not set, using the value of 37.5 degrees Leg8 waypoints: Origin: (150, 170, 100.234) Target: (-50, 170, 100.234) Next: (-50, 170, 100.234) Clearing point cloud: "output//some_survey/2024-02-13_11-07-21/leg008_points.laz" Survey 83.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg9/9 1.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 83.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg9/9 2.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 83.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg9/9 3.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 84.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg9/9 4.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 84.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg9/9 5.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 84.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg9/9 6.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 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00:00:00 Remaining 00 00:00:00 Leg9/9 87.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 98.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg9/9 88.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 98.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg9/9 89.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 98.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg9/9 90.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 98.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg9/9 91.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 98.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg9/9 92.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 98.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg9/9 93.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 99.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg9/9 94.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 99.17% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg9/9 95.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 99.33% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg9/9 96.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 99.50% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg9/9 97.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 99.67% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg9/9 98.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Survey 99.83% Elapsed 00 00:00:00 Remaining 00 00:00:00 Leg9/9 99.00% Elapsed 00 00:00:00 Remaining 00 00:00:00 Waypoint reached! Starting leg 9 Pulse frequency set to 300000 Scan angle set to 37.5 Applying settings for PolygonMirrorBeamDeflector... Vertical angle min/max nan/nan -- verticalAngleMin not set, using the value of -37.5 degrees -- verticalAngleMax not set, using the value of 37.5 degrees Waypoint reached! Elapsed simulation steps = 2400016 Elapsed virtual time = 8.00005 sec. Main thread simulation loop finished in 0.737226 sec. Waiting for completion of pulse computation tasks... Pulse computation tasks finished in 0.737332 sec. Simulation has finished.
Now let us also quickly visualize the output. We load the points into numpy arrays using the function outputToNumpy
and then visualize the point cloud with matplotlib as a simple top view with points coloured by the hitObjectId
.
import matplotlib.pyplot as plt
pc, trajectory = pyhelios.outputToNumpy(output)
# Matplotlib figure.
fig = plt.figure(figsize=(5, 5))
# Axes3d axis onto mpl figure.
ax = fig.add_subplot()
# Scatter plot of original and simulated points in different colors
ax.scatter(pc[:, 0], pc[:, 1], c=pc[:, 14], s=0.01)
# Add axis labels.
ax.set_xlabel("$X$")
ax.set_ylabel("$Y$")
ax.axis("equal")
# Set title.
from textwrap import wrap
title = ax.set_title(
"\n".join(
wrap(
"Top view of the simulated point cloud, coloured by " + r"$hitObjectId$", 40
)
)
)
plt.show()