[19:35:56.735] init depth filter
[19:35:57.620] init depth filter
[19:36:01.512] DepthFilter: RESET.
[19:36:13.284] add key frame
[19:36:13.284] init seeds
[19:36:13.284] update 0 seeds
[19:36:13.284] init seeds
[19:36:13.287] DepthFilter: Initialized 248 new seeds
[19:36:13.287] add key frame
[19:36:13.287] update 248 seeds
[19:36:13.287]  If point is visible? -1.921773, 2.026455, 3.332691 mu:-0.274802 unit_bearing:-0.528852 -0.474669 0.703565 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.287]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.287]  If point is visible? -1.902330, 2.042336, 3.334801 mu:-0.274802 unit_bearing:-0.523509 -0.478930 0.704673 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.287]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.287]  If point is visible? -1.889831, 2.082317, 3.309492 mu:-0.274802 unit_bearing:-0.520075 -0.490683 0.699109 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.287]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.287]  If point is visible? -1.892595, 2.050261, 3.335779 mu:-0.274802 unit_bearing:-0.520834 -0.481059 0.705205 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.287]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.287]  If point is visible? -1.919965, 1.804629, 3.509772 mu:-0.274802 unit_bearing:-0.528355 -0.408235 0.744436 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.287]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.287]  If point is visible? -1.910638, 1.805966, 3.515935 mu:-0.274802 unit_bearing:-0.525792 -0.408393 0.746162 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.287]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.287]  If point is visible? -1.881727, 1.823452, 3.525134 mu:-0.274802 unit_bearing:-0.517848 -0.412854 0.749256 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.287]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.287]  If point is visible? -1.862545, 1.832823, 3.532587 mu:-0.274802 unit_bearing:-0.512576 -0.415161 0.751603 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.287]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.287]  If point is visible? -1.939018, 1.795176, 3.501863 mu:-0.274802 unit_bearing:-0.533591 -0.405921 0.741962 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.287]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.287]  If point is visible? -2.159697, 1.273003, 3.637479 mu:-0.274802 unit_bearing:-0.594234 -0.258955 0.761464 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.287]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.288]  If point is visible? 0.517417, 1.203564, 4.397414 mu:-0.274802 unit_bearing:0.141442 -0.214565 0.966414 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.288]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.288]  If point is visible? 0.496555, 1.188831, 4.405693 mu:-0.274802 unit_bearing:0.135709 -0.210269 0.968179 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.288]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.288]  If point is visible? 0.507024, 1.188605, 4.404236 mu:-0.274802 unit_bearing:0.138586 -0.210256 0.967774 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.288]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.288]  If point is visible? 0.517491, 1.188375, 4.402749 mu:-0.274802 unit_bearing:0.141462 -0.210243 0.967360 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.288]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.288]  If point is visible? 0.454753, 1.166862, 4.419077 mu:-0.274802 unit_bearing:0.124222 -0.203829 0.971094 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.288]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.288]  If point is visible? 0.465232, 1.166657, 4.417744 mu:-0.274802 unit_bearing:0.127102 -0.203818 0.970723 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.288]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.288]  If point is visible? 0.475709, 1.166448, 4.416381 mu:-0.274802 unit_bearing:0.129981 -0.203806 0.970344 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.288]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.288]  If point is visible? 0.465263, 1.159043, 4.420331 mu:-0.274802 unit_bearing:0.127110 -0.201654 0.971174 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.288]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.288]  If point is visible? 0.454814, 1.151628, 4.424233 mu:-0.274802 unit_bearing:0.124239 -0.199501 0.971990 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.288]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.288]  If point is visible? 0.350077, 1.099937, 4.453348 mu:-0.274802 unit_bearing:0.095457 -0.184427 0.978200 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.288]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.288]  If point is visible? 0.360577, 1.099783, 4.452324 mu:-0.274802 unit_bearing:0.098342 -0.184419 0.977915 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.288]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.288]  If point is visible? 0.882733, 1.116535, 4.351811 mu:-0.274802 unit_bearing:0.241832 -0.192355 0.951061 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.288]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.288]  If point is visible? 2.375151, 0.971097, 3.584788 mu:-0.274802 unit_bearing:0.651951 -0.178374 0.736982 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.288]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.288]  If point is visible? 0.339595, 1.092432, 4.456768 mu:-0.274802 unit_bearing:0.092576 -0.182266 0.978881 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.288]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.288]  If point is visible? 0.934678, 1.099286, 4.343456 mu:-0.274802 unit_bearing:0.256106 -0.187930 0.948205 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.288]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.288]  If point is visible? 0.934616, 1.106888, 4.340963 mu:-0.274802 unit_bearing:0.256089 -0.190087 0.947779 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.288]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.288]  If point is visible? 0.024121, 1.102426, 4.469928 mu:-0.274802 unit_bearing:0.005883 -0.184551 0.982805 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.288]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.288]  If point is visible? 1.007136, 1.088624, 4.325906 mu:-0.274802 unit_bearing:0.276018 -0.185610 0.943061 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.288]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.288]  If point is visible? 2.313545, 0.943270, 3.650129 mu:-0.274802 unit_bearing:0.635022 -0.168595 0.753872 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.288]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.288]  If point is visible? 2.304718, 0.937146, 3.659972 mu:-0.274802 unit_bearing:0.632596 -0.166595 0.756352 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.288]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.288]  If point is visible? 2.295870, 0.931004, 3.669762 mu:-0.274802 unit_bearing:0.630165 -0.164592 0.758816 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.288]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.288]  If point is visible? 2.242129, 0.901156, 3.725091 mu:-0.274802 unit_bearing:0.615396 -0.154598 0.772908 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.288]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.288]  If point is visible? -2.282634, 0.858715, 3.700537 mu:-0.274802 unit_bearing:-0.628018 -0.143845 0.764789 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.288]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.288]  If point is visible? 2.233130, 0.894899, 3.734524 mu:-0.274802 unit_bearing:0.612924 -0.152576 0.775271 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.288]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.288]  If point is visible? 2.169095, 0.872903, 3.792542 mu:-0.274802 unit_bearing:0.595327 -0.144633 0.790359 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.289]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.289]  If point is visible? 2.178387, 0.871842, 3.785635 mu:-0.274802 unit_bearing:0.597880 -0.144575 0.788440 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.289]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.289]  If point is visible? 2.187665, 0.870774, 3.778694 mu:-0.274802 unit_bearing:0.600430 -0.144516 0.786511 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.289]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.289]  If point is visible? 2.160250, 0.851674, 3.805922 mu:-0.274802 unit_bearing:0.592896 -0.138395 0.793298 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.289]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.289]  If point is visible? 2.142298, 0.816497, 3.830039 mu:-0.274802 unit_bearing:0.587963 -0.127993 0.798698 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.289]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.289]  If point is visible? -2.302741, 0.767727, 3.710834 mu:-0.274802 unit_bearing:-0.633543 -0.118682 0.764551 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.289]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.289]  If point is visible? 2.151219, 0.837831, 3.817005 mu:-0.274802 unit_bearing:0.590414 -0.134248 0.795857 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.289]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.289]  If point is visible? 2.151363, 0.830384, 3.819101 mu:-0.274802 unit_bearing:0.590454 -0.132147 0.796179 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.289]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.289]  If point is visible? 2.114690, 0.789614, 3.858284 mu:-0.274802 unit_bearing:0.580376 -0.119714 0.805501 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.289]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.289]  If point is visible? 2.124083, 0.788624, 3.851589 mu:-0.274802 unit_bearing:0.582957 -0.119668 0.803642 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.289]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.289]  If point is visible? 2.133462, 0.787630, 3.844858 mu:-0.274802 unit_bearing:0.585535 -0.119622 0.801773 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.289]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.289]  If point is visible? -0.565040, 0.826215, 4.500193 mu:-0.274802 unit_bearing:-0.156019 -0.108200 0.981810 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.289]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.289]  If point is visible? -0.565060, 0.818457, 4.502013 mu:-0.274802 unit_bearing:-0.156025 -0.106023 0.982047 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.289]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.289]  If point is visible? -0.575542, 0.818227, 4.500350 mu:-0.274802 unit_bearing:-0.158905 -0.106016 0.981585 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.289]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.289]  If point is visible? 1.818882, 0.642630, 4.089210 mu:-0.274802 unit_bearing:0.499087 -0.071890 0.863565 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.289]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.289]  If point is visible? 1.828671, 0.641864, 4.083589 mu:-0.274802 unit_bearing:0.501777 -0.071869 0.862006 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.289]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.289]  If point is visible? 1.809137, 0.635747, 4.096344 mu:-0.274802 unit_bearing:0.496409 -0.069774 0.865280 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.289]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.289]  If point is visible? 1.750315, 0.609539, 4.135154 mu:-0.274802 unit_bearing:0.480245 -0.061326 0.874988 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.289]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.289]  If point is visible? 1.799380, 0.628851, 4.103426 mu:-0.274802 unit_bearing:0.493728 -0.067656 0.866981 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.289]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.289]  If point is visible? 1.691098, 0.583015, 4.172451 mu:-0.274802 unit_bearing:0.463972 -0.052842 0.884272 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.289]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.289]  If point is visible? 1.701019, 0.582329, 4.167274 mu:-0.274802 unit_bearing:0.466698 -0.052828 0.882837 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.289]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.289]  If point is visible? 1.710931, 0.581639, 4.162063 mu:-0.274802 unit_bearing:0.469422 -0.052815 0.881393 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.289]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.289]  If point is visible? 1.701055, 0.574636, 4.168660 mu:-0.274802 unit_bearing:0.466708 -0.050683 0.882958 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.289]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.289]  If point is visible? -2.360689, 0.485080, 3.726212 mu:-0.274802 unit_bearing:-0.649467 -0.041074 0.759279 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.289]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.290]  If point is visible? -1.744765, 0.471074, 4.159012 mu:-0.274802 unit_bearing:-0.480210 -0.022760 0.876858 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.290]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.290]  If point is visible? -1.332829, 0.510938, 4.348281 mu:-0.274802 unit_bearing:-0.367009 -0.027294 0.929817 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.290]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.290]  If point is visible? -1.625630, 0.471187, 4.222062 mu:-0.274802 unit_bearing:-0.447472 -0.020679 0.894059 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.290]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.290]  If point is visible? 0.561180, 0.474602, 4.566435 mu:-0.274802 unit_bearing:0.153468 -0.010077 0.988102 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.290]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.290]  If point is visible? -1.625643, 0.463442, 4.223180 mu:-0.274802 unit_bearing:-0.447475 -0.018529 0.894104 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.290]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.290]  If point is visible? 1.450788, 0.458401, 4.308851 mu:-0.274802 unit_bearing:0.397934 -0.014285 0.917303 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.290]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.290]  If point is visible? 1.440668, 0.451159, 4.314258 mu:-0.274802 unit_bearing:0.395153 -0.012129 0.918535 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.290]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.290]  If point is visible? 1.450795, 0.450617, 4.309917 mu:-0.274802 unit_bearing:0.397936 -0.012126 0.917333 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.290]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.290]  If point is visible? 1.369606, 0.415823, 4.348791 mu:-0.274802 unit_bearing:0.375625 -0.001334 0.926771 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.290]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.290]  If point is visible? 1.379781, 0.415317, 4.344680 mu:-0.274802 unit_bearing:0.378421 -0.001334 0.925632 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.290]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.290]  If point is visible? -1.505297, 0.423981, 4.286580 mu:-0.274802 unit_bearing:-0.414404 -0.005643 0.910076 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.290]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.290]  If point is visible? -1.754723, 0.393109, 4.164151 mu:-0.274802 unit_bearing:-0.482947 -0.001322 0.875649 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.290]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.290]  If point is visible? -1.695365, 0.397019, 4.195936 mu:-0.274802 unit_bearing:-0.466635 -0.001324 0.884449 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.290]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.290]  If point is visible? -1.444687, 0.396104, 4.317186 mu:-0.274802 unit_bearing:-0.397748 0.002986 0.917490 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.290]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.290]  If point is visible? 0.529691, 0.427898, 4.577126 mu:-0.274802 unit_bearing:0.144815 0.003019 0.989454 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.290]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.290]  If point is visible? -1.695365, 0.389266, 4.196890 mu:-0.274802 unit_bearing:-0.466635 0.000822 0.884450 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.290]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.290]  If point is visible? 0.508686, 0.436152, 4.579162 mu:-0.274802 unit_bearing:0.139043 0.000836 0.990286 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.290]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.290]  If point is visible? 0.519190, 0.435970, 4.577683 mu:-0.274802 unit_bearing:0.141929 0.000836 0.989876 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.290]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.290]  If point is visible? -0.134032, 0.432245, 4.612650 mu:-0.274802 unit_bearing:-0.037577 0.003024 0.999289 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.290]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.290]  If point is visible? -1.675490, 0.359482, 4.210851 mu:-0.274802 unit_bearing:-0.461173 0.009413 0.887260 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.290]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.290]  If point is visible? -0.186748, 0.408253, 4.613061 mu:-0.274802 unit_bearing:-0.052064 0.009581 0.998598 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.290]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.290]  If point is visible? -0.176206, 0.408318, 4.613592 mu:-0.274802 unit_bearing:-0.049167 0.009581 0.998745 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.290]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.290]  If point is visible? -0.102395, 0.408665, 4.616454 mu:-0.274802 unit_bearing:-0.028883 0.009582 0.999537 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.290]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.290]  If point is visible? -0.186747, 0.400348, 4.613946 mu:-0.274802 unit_bearing:-0.052064 0.011767 0.998574 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.290]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.290]  If point is visible? -0.102394, 0.400759, 4.617339 mu:-0.274802 unit_bearing:-0.028883 0.011768 0.999514 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.290]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.290]  If point is visible? -0.112939, 0.384901, 4.618740 mu:-0.274802 unit_bearing:-0.031781 0.016140 0.999365 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.290]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.290]  If point is visible? 1.369606, 0.408013, 4.349752 mu:-0.274802 unit_bearing:0.375626 0.000828 0.926771 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.290]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.290]  If point is visible? -1.675474, 0.343945, 4.212562 mu:-0.274802 unit_bearing:-0.461169 0.013709 0.887206 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.290]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.290]  If point is visible? -0.197283, 0.360723, 4.617551 mu:-0.274802 unit_bearing:-0.054959 0.022695 0.998231 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.290]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.290]  If point is visible? -1.645475, 0.275706, 4.234613 mu:-0.274802 unit_bearing:-0.452925 0.033060 0.890935 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.291]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.291]  If point is visible? -0.176199, 0.352936, 4.619424 mu:-0.274802 unit_bearing:-0.049165 0.024882 0.998481 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.291]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.291]  If point is visible? -0.102391, 0.353278, 4.622287 mu:-0.274802 unit_bearing:-0.028882 0.024885 0.999273 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.291]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.291]  If point is visible? -0.081299, 0.353343, 4.622832 mu:-0.274802 unit_bearing:-0.023086 0.024885 0.999424 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.291]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.291]  If point is visible? -0.134024, 0.337311, 4.622753 mu:-0.274802 unit_bearing:-0.037575 0.029255 0.998865 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.291]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.291]  If point is visible? -0.134025, 0.345233, 4.622007 mu:-0.274802 unit_bearing:-0.037575 0.027070 0.998927 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.291]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.291]  If point is visible? -0.134022, 0.329387, 4.623483 mu:-0.274802 unit_bearing:-0.037575 0.031441 0.998799 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.291]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.291]  If point is visible? -0.596762, 0.173220, 4.587102 mu:-0.274802 unit_bearing:-0.164737 0.072818 0.983646 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.291]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.291]  If point is visible? 1.379265, 0.172344, 4.366182 mu:-0.274802 unit_bearing:0.378280 0.065658 0.923360 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.291]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.291]  If point is visible? -0.586236, 0.149574, 4.589910 mu:-0.274802 unit_bearing:-0.161844 0.079361 0.983620 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.291]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.291]  If point is visible? -0.575752, 0.149763, 4.591607 mu:-0.274802 unit_bearing:-0.158963 0.079367 0.984089 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.291]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.291]  If point is visible? -1.841820, 0.084385, 4.137745 mu:-0.274802 unit_bearing:-0.506881 0.081999 0.858107 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.291]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.291]  If point is visible? -1.841886, 0.092175, 4.137487 mu:-0.274802 unit_bearing:-0.506899 0.079865 0.858298 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.291]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.291]  If point is visible? -1.723754, 0.068046, 4.204656 mu:-0.274802 unit_bearing:-0.474436 0.088696 0.875810 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.291]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.291]  If point is visible? 1.389116, 0.108916, 4.364788 mu:-0.274802 unit_bearing:0.380987 0.082912 0.920855 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.291]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.291]  If point is visible? 1.389159, 0.116792, 4.364505 mu:-0.274802 unit_bearing:0.380999 0.080754 0.921042 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.291]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.291]  If point is visible? -0.197113, 0.034692, 4.635345 mu:-0.274802 unit_bearing:-0.054912 0.112218 0.992165 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.291]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.291]  If point is visible? -0.186581, 0.034752, 4.635909 mu:-0.274802 unit_bearing:-0.052018 0.112220 0.992321 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.291]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.291]  If point is visible? -0.102302, 0.035115, 4.639316 mu:-0.274802 unit_bearing:-0.028858 0.112235 0.993263 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.291]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.291]  If point is visible? 0.034690, 0.011302, 4.640843 mu:-0.274802 unit_bearing:0.008788 0.118781 0.992882 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.291]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.291]  If point is visible? -0.354948, 0.009455, 4.623370 mu:-0.274802 unit_bearing:-0.098286 0.118700 0.988054 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.291]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.291]  If point is visible? -0.344445, 0.017546, 4.624362 mu:-0.274802 unit_bearing:-0.095399 0.116526 0.988595 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.291]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.291]  If point is visible? 0.024153, 0.019298, 4.640887 mu:-0.274802 unit_bearing:0.005892 0.116602 0.993161 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.291]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.291]  If point is visible? 1.408738, 0.005528, 4.358394 mu:-0.274802 unit_bearing:0.386379 0.110897 0.915649 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.291]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.291]  If point is visible? 1.418277, -0.065964, 4.353737 mu:-0.274802 unit_bearing:0.389000 0.130241 0.911985 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.291]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.291]  If point is visible? 1.418205, -0.073864, 4.353603 mu:-0.274802 unit_bearing:0.388981 0.132391 0.911684 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.291]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.291]  If point is visible? -0.344321, -0.054344, 4.624009 mu:-0.274802 unit_bearing:-0.095365 0.136123 0.986091 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.291]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.291]  If point is visible? -0.323291, -0.054143, 4.625965 mu:-0.274802 unit_bearing:-0.089586 0.136133 0.986632 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.291]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.291]  If point is visible? -0.344305, -0.062338, 4.623881 mu:-0.274802 unit_bearing:-0.095361 0.138299 0.985789 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.291]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.291]  If point is visible? -0.007456, -0.060633, 4.640482 mu:-0.274802 unit_bearing:-0.002794 0.138390 0.990374 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.291]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.291]  If point is visible? 0.024145, -0.060638, 4.640433 mu:-0.274802 unit_bearing:0.005890 0.138389 0.990360 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.291]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.291]  If point is visible? 0.560218, -0.120976, 4.596006 mu:-0.274802 unit_bearing:0.153204 0.153359 0.976222 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.291]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.291]  If point is visible? 0.570692, -0.121140, 4.594360 mu:-0.274802 unit_bearing:0.156082 0.153349 0.975768 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.291]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.291]  If point is visible? 0.581164, -0.121308, 4.592683 mu:-0.274802 unit_bearing:0.158960 0.153338 0.975305 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.291]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.292]  If point is visible? 0.024143, -0.076639, 4.640131 mu:-0.274802 unit_bearing:0.005889 0.142744 0.989742 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.292]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.292]  If point is visible? 0.570663, -0.129133, 4.594086 mu:-0.274802 unit_bearing:0.156074 0.155520 0.975425 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.292]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.292]  If point is visible? 0.581134, -0.129300, 4.592409 mu:-0.274802 unit_bearing:0.158952 0.155509 0.974962 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.292]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.292]  If point is visible? -0.585298, -0.169431, 4.589181 mu:-0.274802 unit_bearing:-0.161586 0.166347 0.972738 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.292]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.292]  If point is visible? 0.570634, -0.137127, 4.593795 mu:-0.274802 unit_bearing:0.156066 0.157690 0.975078 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.292]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.292]  If point is visible? -0.616579, -0.193939, 4.582670 mu:-0.274802 unit_bearing:-0.170182 0.172813 0.970141 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.292]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.292]  If point is visible? -0.606051, -0.209763, 4.583583 mu:-0.274802 unit_bearing:-0.167289 0.177160 0.969860 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.292]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.292]  If point is visible? -0.606086, -0.201763, 4.584037 mu:-0.274802 unit_bearing:-0.167299 0.174993 0.970252 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.292]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.292]  If point is visible? -1.608154, -0.406067, 4.239675 mu:-0.274802 unit_bearing:-0.442669 0.219185 0.869484 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.292]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.292]  If point is visible? -1.911988, -0.380814, 4.073029 mu:-0.274802 unit_bearing:-0.526163 0.206716 0.824876 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.292]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.292]  If point is visible? -1.795509, -0.390748, 4.141432 mu:-0.274802 unit_bearing:-0.494155 0.211717 0.843201 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.292]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.292]  If point is visible? -1.736870, -0.388024, 4.174634 mu:-0.274802 unit_bearing:-0.478041 0.212086 0.852348 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.292]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.292]  If point is visible? 1.444757, -0.375709, 4.321889 mu:-0.274802 unit_bearing:0.396277 0.213658 0.892925 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.292]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.292]  If point is visible? -2.408488, -0.456230, 3.689055 mu:-0.274802 unit_bearing:-0.662603 0.214427 0.717620 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.292]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.292]  If point is visible? -1.548460, -0.403648, 4.268994 mu:-0.274802 unit_bearing:-0.426265 0.219507 0.877562 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.292]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.292]  If point is visible? -1.795335, -0.398591, 4.140545 mu:-0.274802 unit_bearing:-0.494107 0.213826 0.842696 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.292]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.292]  If point is visible? -1.677711, -0.393254, 4.205724 mu:-0.274802 unit_bearing:-0.461784 0.214553 0.860652 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.292]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.292]  If point is visible? -1.677553, -0.401125, 4.204831 mu:-0.274802 unit_bearing:-0.461740 0.216670 0.860145 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.292]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.292]  If point is visible? -2.399408, -0.463291, 3.695971 mu:-0.274802 unit_bearing:-0.660107 0.216585 0.719270 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.292]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.292]  If point is visible? 2.350908, -0.498227, 3.736966 mu:-0.274802 unit_bearing:0.645289 0.227487 0.729282 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.292]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.292]  If point is visible? 2.122192, -0.523901, 3.913294 mu:-0.274802 unit_bearing:0.582438 0.240394 0.776516 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.292]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.292]  If point is visible? 2.131469, -0.524387, 3.906430 mu:-0.274802 unit_bearing:0.584987 0.240297 0.774627 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.292]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.292]  If point is visible? 2.037802, -0.527372, 3.972284 mu:-0.274802 unit_bearing:0.559247 0.243317 0.792489 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.292]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.292]  If point is visible? 2.047206, -0.527840, 3.965737 mu:-0.274802 unit_bearing:0.561831 0.243225 0.790688 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.292]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.292]  If point is visible? 1.999810, -0.533299, 3.996912 mu:-0.274802 unit_bearing:0.548807 0.245758 0.799008 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.292]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.292]  If point is visible? 1.894507, -0.543999, 4.062635 mu:-0.274802 unit_bearing:0.519869 0.250878 0.816576 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.292]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.292]  If point is visible? 1.904097, -0.544433, 4.056609 mu:-0.274802 unit_bearing:0.522505 0.250794 0.814918 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.292]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.293]  If point is visible? 1.903865, -0.552241, 4.055351 mu:-0.274802 unit_bearing:0.522441 0.252882 0.814313 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.293]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.293]  If point is visible? 1.729337, -0.552623, 4.157263 mu:-0.274802 unit_bearing:0.474480 0.256399 0.842097 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.293]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.293]  If point is visible? 1.787402, -0.570710, 4.121532 mu:-0.274802 unit_bearing:0.490437 0.260136 0.831746 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.293]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.293]  If point is visible? 1.777897, -0.562468, 4.128445 mu:-0.274802 unit_bearing:0.487825 0.258119 0.833908 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.293]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.293]  If point is visible? 1.689940, -0.558917, 4.177403 mu:-0.274802 unit_bearing:0.463654 0.258790 0.847380 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.293]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.293]  If point is visible? -0.238065, -0.574717, 4.587255 mu:-0.274802 unit_bearing:-0.066166 0.276826 0.958639 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.293]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.293]  If point is visible? -0.227588, -0.574661, 4.587953 mu:-0.274802 unit_bearing:-0.063287 0.276834 0.958832 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.293]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.293]  If point is visible? -0.217109, -0.574608, 4.588619 mu:-0.274802 unit_bearing:-0.060407 0.276841 0.959015 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.293]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.293]  If point is visible? 0.034539, -0.574073, 4.595293 mu:-0.274802 unit_bearing:0.008746 0.276919 0.960853 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.293]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.293]  If point is visible? 0.034542, -0.566041, 4.596567 mu:-0.274802 unit_bearing:0.008747 0.274771 0.961470 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.293]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.293]  If point is visible? 1.481246, -0.574967, 4.277006 mu:-0.274802 unit_bearing:0.406304 0.266503 0.874010 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.293]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.293]  If point is visible? -1.461501, -0.732637, 4.251868 mu:-0.274802 unit_bearing:-0.402369 0.308667 0.861873 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.293]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.293]  If point is visible? 0.254196, -0.727272, 4.558706 mu:-0.274802 unit_bearing:0.069109 0.317479 0.945744 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.293]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.293]  If point is visible? -1.717331, -0.756545, 4.118313 mu:-0.274802 unit_bearing:-0.472671 0.310715 0.824644 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.293]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.293]  If point is visible? 0.222802, -0.735141, 4.559170 mu:-0.274802 unit_bearing:0.060481 0.319641 0.945606 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.293]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.293]  If point is visible? 1.062617, -0.754054, 4.400577 mu:-0.274802 unit_bearing:0.291264 0.319489 0.901716 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.293]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.293]  If point is visible? -0.767735, -0.804625, 4.466291 mu:-0.274802 unit_bearing:-0.211720 0.335483 0.917947 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.293]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.293]  If point is visible? 1.040645, -0.841119, 4.386898 mu:-0.274802 unit_bearing:0.285226 0.342778 0.895070 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.293]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.293]  If point is visible? 1.384671, -0.848843, 4.259602 mu:-0.274802 unit_bearing:0.379765 0.340621 0.860090 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.293]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.293]  If point is visible? 1.384464, -0.856733, 4.257624 mu:-0.274802 unit_bearing:0.379708 0.342707 0.859287 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.293]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.293]  If point is visible? -1.474626, -0.969297, 4.183234 mu:-0.274802 unit_bearing:-0.405975 0.370918 0.835227 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.293]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.293]  If point is visible? -1.484771, -0.961689, 4.180815 mu:-0.274802 unit_bearing:-0.408763 0.368762 0.834822 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.293]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.293]  If point is visible? -0.069843, -1.022953, 4.493508 mu:-0.274802 unit_bearing:-0.019938 0.395944 0.918058 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.293]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.293]  If point is visible? 2.310824, -1.172849, 3.559212 mu:-0.274802 unit_bearing:0.634274 0.405539 0.658205 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.293]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.293]  If point is visible? -0.017668, -1.237779, 4.423960 mu:-0.274802 unit_bearing:-0.005600 0.452209 0.891894 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.293]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.293]  If point is visible? -1.872354, 1.824763, 3.531162 mu:-0.274802 unit_bearing:-0.515272 -0.413010 0.750945 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.293]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.293]  If point is visible? -1.913681, 2.015021, 3.349214 mu:-0.274802 unit_bearing:-0.526629 -0.470997 0.707689 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.293]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.293]  If point is visible? -1.949624, 1.773525, 3.509046 mu:-0.274802 unit_bearing:-0.536506 -0.399775 0.743196 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.294]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.294]  If point is visible? -1.948749, 1.787061, 3.500100 mu:-0.274802 unit_bearing:-0.536265 -0.403767 0.741210 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.294]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.294]  If point is visible? -1.930151, 1.789763, 3.512593 mu:-0.274802 unit_bearing:-0.531155 -0.404086 0.744708 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.294]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.294]  If point is visible? 0.486050, 1.196650, 4.404460 mu:-0.274802 unit_bearing:0.132822 -0.212443 0.968104 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.294]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.294]  If point is visible? 0.360466, 1.137992, 4.439922 mu:-0.274802 unit_bearing:0.098312 -0.195256 0.975812 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.294]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.294]  If point is visible? 0.318549, 1.108021, 4.453791 mu:-0.274802 unit_bearing:0.086793 -0.186617 0.978591 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.294]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.294]  If point is visible? 0.903533, 1.108129, 4.349072 mu:-0.274802 unit_bearing:0.247548 -0.190154 0.950033 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.294]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.294]  If point is visible? 0.924259, 1.107306, 4.343698 mu:-0.274802 unit_bearing:0.253243 -0.190109 0.948539 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.294]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.294]  If point is visible? -0.438601, 1.029426, 4.464348 mu:-0.274802 unit_bearing:-0.121274 -0.164826 0.978839 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.294]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.294]  If point is visible? 2.141584, 0.853748, 3.819559 mu:-0.274802 unit_bearing:0.587767 -0.138504 0.797087 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.294]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.294]  If point is visible? 1.420394, 0.452230, 4.322841 mu:-0.274802 unit_bearing:0.389582 -0.012133 0.920912 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.294]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.294]  If point is visible? -1.655603, 0.376253, 4.219257 mu:-0.274802 unit_bearing:-0.455708 0.005121 0.890114 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.294]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.294]  If point is visible? -0.102392, 0.361196, 4.621506 mu:-0.274802 unit_bearing:-0.028883 0.022699 0.999325 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.294]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.294]  If point is visible? -0.123480, 0.345278, 4.622385 mu:-0.274802 unit_bearing:-0.034678 0.027070 0.999032 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.294]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.294]  If point is visible? -0.355000, 0.041378, 4.623141 mu:-0.274802 unit_bearing:-0.098300 0.109985 0.989060 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.294]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.294]  If point is visible? -0.333963, 0.041594, 4.625155 mu:-0.274802 unit_bearing:-0.092519 0.109994 0.989617 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.294]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.294]  If point is visible? -0.354975, 0.025419, 4.623290 mu:-0.274802 unit_bearing:-0.098293 0.114343 0.988567 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.294]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.294]  If point is visible? -0.333747, -0.086225, 4.624388 mu:-0.274802 unit_bearing:-0.092459 0.144831 0.985127 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.294]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.294]  If point is visible? -0.354802, -0.070438, 4.622712 mu:-0.274802 unit_bearing:-0.098245 0.140469 0.985199 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.294]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.294]  If point is visible? -0.312382, -0.246184, 4.618966 mu:-0.274802 unit_bearing:-0.086588 0.188279 0.978291 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.294]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.294]  If point is visible? -2.400008, -0.448020, 3.698018 mu:-0.274802 unit_bearing:-0.660272 0.212488 0.720340 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.294]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.294]  If point is visible? -2.382389, -0.446868, 3.713807 mu:-0.274802 unit_bearing:-0.655431 0.212703 0.724685 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.294]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.294]  If point is visible? -2.411615, -0.586365, 3.660853 mu:-0.274802 unit_bearing:-0.663462 0.248977 0.705570 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.294]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.294]  If point is visible? -2.394156, -0.585356, 3.676824 mu:-0.274802 unit_bearing:-0.658664 0.249237 0.709960 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.294]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.294]  If point is visible? 2.350601, -0.505882, 3.735824 mu:-0.274802 unit_bearing:0.645205 0.229536 0.728714 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.294]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.294]  If point is visible? 1.748040, -0.584811, 4.141130 mu:-0.274802 unit_bearing:0.479620 0.264638 0.836619 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.294]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.295]  If point is visible? 1.729337, -0.552623, 4.157263 mu:-0.274802 unit_bearing:0.474480 0.256399 0.842097 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.295]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.295]  If point is visible? -0.206649, -0.566527, 4.590529 mu:-0.274802 unit_bearing:-0.057533 0.274701 0.959807 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.295]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.295]  If point is visible? -0.185686, -0.566433, 4.591706 mu:-0.274802 unit_bearing:-0.051772 0.274715 0.960131 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.295]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.295]  If point is visible? 0.003076, -0.566030, 4.596710 mu:-0.274802 unit_bearing:0.000100 0.274773 0.961509 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.295]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.295]  If point is visible? 0.024054, -0.566035, 4.596646 mu:-0.274802 unit_bearing:0.005865 0.274772 0.961492 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.295]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.295]  If point is visible? -0.185721, -0.550372, 4.594202 mu:-0.274802 unit_bearing:-0.051782 0.270418 0.961349 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.295]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.295]  If point is visible? 0.003076, -0.549965, 4.599203 mu:-0.274802 unit_bearing:0.000100 0.270475 0.962727 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.295]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.295]  If point is visible? -0.206219, -0.727069, 4.561501 mu:-0.274802 unit_bearing:-0.057414 0.317518 0.946513 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.295]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.295]  If point is visible? 0.254196, -0.727272, 4.558706 mu:-0.274802 unit_bearing:0.069109 0.317479 0.945744 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.295]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.295]  If point is visible? -0.435831, -0.760656, 4.533488 mu:-0.274802 unit_bearing:-0.120512 0.325741 0.937747 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.295]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.295]  If point is visible? -2.124347, -0.956349, 3.795442 mu:-0.274802 unit_bearing:-0.584520 0.354399 0.729889 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.295]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.295]  If point is visible? 0.273033, -1.158893, 4.440927 mu:-0.274802 unit_bearing:0.074285 0.431261 0.899164 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.295]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.295]  If point is visible? 2.310824, -1.172849, 3.559212 mu:-0.274802 unit_bearing:0.634274 0.405539 0.658205 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.295]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.295]  If point is visible? -2.075270, 1.509641, 3.579842 mu:-0.274802 unit_bearing:-0.571034 -0.325429 0.753669 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.295]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.295]  If point is visible? 0.402168, 1.213440, 4.409392 mu:-0.274802 unit_bearing:0.109772 -0.216858 0.970012 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.295]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.295]  If point is visible? 0.318511, 1.123311, 4.448849 mu:-0.274802 unit_bearing:0.086782 -0.190953 0.977755 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.295]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.295]  If point is visible? -1.864241, 1.945088, 3.446056 mu:-0.274802 unit_bearing:-0.513042 -0.448679 0.731761 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.295]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.295]  If point is visible? 0.402281, 1.183039, 4.420053 mu:-0.274802 unit_bearing:0.109802 -0.208209 0.971902 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.295]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.295]  If point is visible? 0.360420, 1.153249, 4.434839 mu:-0.274802 unit_bearing:0.098299 -0.199588 0.974937 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.295]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.295]  If point is visible? 1.720321, 0.665346, 4.140382 mu:-0.274802 unit_bearing:0.472003 -0.076372 0.878283 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.295]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.295]  If point is visible? 1.359394, 0.470938, 4.345643 mu:-0.274802 unit_bearing:0.372819 -0.016472 0.927758 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.295]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.295]  If point is visible? 1.400077, 0.468866, 4.329139 mu:-0.274802 unit_bearing:0.383999 -0.016460 0.923187 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.295]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.295]  If point is visible? -0.312690, -0.102030, 4.625871 mu:-0.274802 unit_bearing:-0.086673 0.149192 0.985002 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.295]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.295]  If point is visible? -0.060109, -0.100697, 4.639065 mu:-0.274802 unit_bearing:-0.017263 0.149270 0.988646 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.295]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.295]  If point is visible? -0.312943, 0.057752, 4.626825 mu:-0.274802 unit_bearing:-0.086743 0.105642 0.990614 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.295]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.295]  If point is visible? -0.060159, 0.059167, 4.639977 mu:-0.274802 unit_bearing:-0.017277 0.105697 0.994248 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.295]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.295]  If point is visible? -0.018002, 0.059219, 4.640461 mu:-0.274802 unit_bearing:-0.005692 0.105699 0.994382 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.295]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.295]  If point is visible? -2.418146, -0.433920, 3.684062 mu:-0.274802 unit_bearing:-0.665257 0.208175 0.717006 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.295]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.295]  If point is visible? -2.382968, -0.431579, 3.715774 mu:-0.274802 unit_bearing:-0.655590 0.208598 0.725733 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.296]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.296]  If point is visible? -2.347493, -0.429263, 3.746917 mu:-0.274802 unit_bearing:-0.645841 0.209010 0.734305 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.296]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.296]  If point is visible? -1.549292, -0.356264, 4.274106 mu:-0.274802 unit_bearing:-0.426494 0.206754 0.880543 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.296]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.296]  If point is visible? 2.242174, -0.514942, 3.823691 mu:-0.274802 unit_bearing:0.615409 0.234950 0.752376 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.296]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.296]  If point is visible? 2.314321, -0.519085, 3.764120 mu:-0.274802 unit_bearing:0.635235 0.234085 0.735989 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.296]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.296]  If point is visible? -2.411615, -0.586365, 3.660853 mu:-0.274802 unit_bearing:-0.663462 0.248977 0.705570 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.296]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.296]  If point is visible? 1.903631, -0.560049, 4.054074 mu:-0.274802 unit_bearing:0.522377 0.254969 0.813704 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.296]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.296]  If point is visible? 2.129813, -0.570806, 3.898882 mu:-0.274802 unit_bearing:0.584532 0.252705 0.771014 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.296]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.296]  If point is visible? -0.895345, -0.495256, 4.493496 mu:-0.274802 unit_bearing:-0.246788 0.252012 0.935727 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.296]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.296]  If point is visible? -2.339944, -0.612929, 3.718354 mu:-0.274802 unit_bearing:-0.643767 0.258149 0.720364 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.296]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.296]  If point is visible? -0.059891, -0.517881, 4.603418 mu:-0.274802 unit_bearing:-0.017203 0.261865 0.964951 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.296]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.296]  If point is visible? -0.895008, -0.527218, 4.488899 mu:-0.274802 unit_bearing:-0.246695 0.260576 0.933403 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.296]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.296]  If point is visible? -1.732959, -0.866627, 4.080752 mu:-0.274802 unit_bearing:-0.476966 0.339482 0.810713 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.296]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.296]  If point is visible? 1.269094, -0.600092, 4.360346 mu:-0.274802 unit_bearing:0.348005 0.276147 0.895899 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.296]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.296]  If point is visible? 1.901682, -0.622487, 4.043172 mu:-0.274802 unit_bearing:0.521841 0.271634 0.808639 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.296]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.296]  If point is visible? -1.654118, -0.895579, 4.115706 mu:-0.274802 unit_bearing:-0.455300 0.348550 0.819277 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.296]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.296]  If point is visible? 0.273033, -1.158893, 4.440927 mu:-0.274802 unit_bearing:0.074285 0.431261 0.899164 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.296]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.296]  If point is visible? 0.982054, -0.656709, 4.444665 mu:-0.274802 unit_bearing:0.269125 0.294414 0.917002 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.296]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.296]  If point is visible? -0.059868, -0.550010, 4.598652 mu:-0.274802 unit_bearing:-0.017197 0.270468 0.962575 T_cur_ref: x=0.002712 y=0.000000 z=1.002018
[19:36:13.296]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:13.296] init seeds
[19:36:13.296] DepthFilter: Initialized 316 new seeds
[19:36:13.302] DepthFilter: Initialized 293 new seeds
[19:36:15.394] add new frame
[19:36:15.394] add key frame
[19:36:15.394] update 857 seeds
[19:36:15.394]  If point is visible? -1.926739, 2.026455, 3.866729 mu:-0.274802 unit_bearing:-0.528852 -0.474669 0.703565 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.394]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.394]  If point is visible? -1.907296, 2.042336, 3.868839 mu:-0.274802 unit_bearing:-0.523509 -0.478930 0.704673 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.394]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.394]  If point is visible? -1.894797, 2.082317, 3.843530 mu:-0.274802 unit_bearing:-0.520075 -0.490683 0.699109 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.394]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.394]  If point is visible? -1.897560, 2.050261, 3.869817 mu:-0.274802 unit_bearing:-0.520834 -0.481059 0.705205 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.394]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.394]  If point is visible? -1.924930, 1.804629, 4.043810 mu:-0.274802 unit_bearing:-0.528355 -0.408235 0.744436 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.394]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.394]  If point is visible? -1.915604, 1.805966, 4.049973 mu:-0.274802 unit_bearing:-0.525792 -0.408393 0.746162 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.394]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.394]  If point is visible? -1.886692, 1.823452, 4.059171 mu:-0.274802 unit_bearing:-0.517848 -0.412854 0.749256 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.394]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.394]  If point is visible? -1.867510, 1.832823, 4.066624 mu:-0.274802 unit_bearing:-0.512576 -0.415161 0.751603 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.394]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.394]  If point is visible? -1.943983, 1.795176, 4.035901 mu:-0.274802 unit_bearing:-0.533591 -0.405921 0.741962 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.394]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.394]  If point is visible? -2.164662, 1.273003, 4.171516 mu:-0.274802 unit_bearing:-0.594234 -0.258955 0.761464 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.394]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.394]  If point is visible? 0.512452, 1.203564, 4.931451 mu:-0.274802 unit_bearing:0.141442 -0.214565 0.966414 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.394]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.394]  If point is visible? 0.491590, 1.188831, 4.939730 mu:-0.274802 unit_bearing:0.135709 -0.210269 0.968179 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.394]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.395]  If point is visible? 0.502058, 1.188605, 4.938274 mu:-0.274802 unit_bearing:0.138586 -0.210256 0.967774 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.395]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.395]  If point is visible? 0.512525, 1.188375, 4.936786 mu:-0.274802 unit_bearing:0.141462 -0.210243 0.967360 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.395]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.395]  If point is visible? 0.449788, 1.166862, 4.953114 mu:-0.274802 unit_bearing:0.124222 -0.203829 0.971094 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.395]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.395]  If point is visible? 0.460267, 1.166657, 4.951782 mu:-0.274802 unit_bearing:0.127102 -0.203818 0.970723 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.395]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.395]  If point is visible? 0.470744, 1.166448, 4.950418 mu:-0.274802 unit_bearing:0.129981 -0.203806 0.970344 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.395]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.395]  If point is visible? 0.460298, 1.159043, 4.954369 mu:-0.274802 unit_bearing:0.127110 -0.201654 0.971174 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.395]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.395]  If point is visible? 0.449848, 1.151628, 4.958271 mu:-0.274802 unit_bearing:0.124239 -0.199501 0.971990 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.395]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.395]  If point is visible? 0.345111, 1.099937, 4.987385 mu:-0.274802 unit_bearing:0.095457 -0.184427 0.978200 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.395]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.395]  If point is visible? 0.355612, 1.099783, 4.986361 mu:-0.274802 unit_bearing:0.098342 -0.184419 0.977915 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.395]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.395]  If point is visible? 0.877768, 1.116535, 4.885848 mu:-0.274802 unit_bearing:0.241832 -0.192355 0.951061 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.395]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.395]  If point is visible? 2.370186, 0.971097, 4.118825 mu:-0.274802 unit_bearing:0.651951 -0.178374 0.736982 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.395]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.395]  If point is visible? 0.334630, 1.092432, 4.990806 mu:-0.274802 unit_bearing:0.092576 -0.182266 0.978881 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.395]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.395]  If point is visible? 0.929713, 1.099286, 4.877494 mu:-0.274802 unit_bearing:0.256106 -0.187930 0.948205 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.395]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.395]  If point is visible? 0.929650, 1.106888, 4.875001 mu:-0.274802 unit_bearing:0.256089 -0.190087 0.947779 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.395]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.395]  If point is visible? 0.019156, 1.102426, 5.003965 mu:-0.274802 unit_bearing:0.005883 -0.184551 0.982805 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.395]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.395]  If point is visible? 1.002170, 1.088624, 4.859943 mu:-0.274802 unit_bearing:0.276018 -0.185610 0.943061 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.395]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.395]  If point is visible? 2.308579, 0.943270, 4.184167 mu:-0.274802 unit_bearing:0.635022 -0.168595 0.753872 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.395]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.395]  If point is visible? 2.299753, 0.937146, 4.194010 mu:-0.274802 unit_bearing:0.632596 -0.166595 0.756352 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.395]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.395]  If point is visible? 2.290904, 0.931004, 4.203799 mu:-0.274802 unit_bearing:0.630165 -0.164592 0.758816 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.395]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.395]  If point is visible? 2.237163, 0.901156, 4.259129 mu:-0.274802 unit_bearing:0.615396 -0.154598 0.772908 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.395]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.395]  If point is visible? -2.287599, 0.858715, 4.234574 mu:-0.274802 unit_bearing:-0.628018 -0.143845 0.764789 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.395]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.395]  If point is visible? 2.228165, 0.894899, 4.268562 mu:-0.274802 unit_bearing:0.612924 -0.152576 0.775271 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.395]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.396]  If point is visible? 2.164129, 0.872903, 4.326579 mu:-0.274802 unit_bearing:0.595327 -0.144633 0.790359 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.396]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.396]  If point is visible? 2.173422, 0.871842, 4.319673 mu:-0.274802 unit_bearing:0.597880 -0.144575 0.788440 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.396]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.396]  If point is visible? 2.182700, 0.870774, 4.312732 mu:-0.274802 unit_bearing:0.600430 -0.144516 0.786511 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.396]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.396]  If point is visible? 2.155285, 0.851674, 4.339959 mu:-0.274802 unit_bearing:0.592896 -0.138395 0.793298 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.396]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.396]  If point is visible? 2.137332, 0.816497, 4.364077 mu:-0.274802 unit_bearing:0.587963 -0.127993 0.798698 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.396]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.396]  If point is visible? -2.307707, 0.767727, 4.244871 mu:-0.274802 unit_bearing:-0.633543 -0.118682 0.764551 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.396]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.396]  calculated Z=  0.835002 tau: 0.003560 tau_inv: 0.005106
[19:36:15.396]  seeds updated
[19:36:15.396]  If point is visible? 2.146254, 0.837831, 4.351043 mu:-0.274802 unit_bearing:0.590414 -0.134248 0.795857 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.396]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.396]  If point is visible? 2.146398, 0.830384, 4.353139 mu:-0.274802 unit_bearing:0.590454 -0.132147 0.796179 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.396]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.396]  If point is visible? 2.109725, 0.789614, 4.392322 mu:-0.274802 unit_bearing:0.580376 -0.119714 0.805501 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.396]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.396]  If point is visible? 2.119118, 0.788624, 4.385627 mu:-0.274802 unit_bearing:0.582957 -0.119668 0.803642 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.396]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.396]  If point is visible? 2.128497, 0.787630, 4.378896 mu:-0.274802 unit_bearing:0.585535 -0.119622 0.801773 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.396]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.396]  If point is visible? -0.570006, 0.826215, 5.034230 mu:-0.274802 unit_bearing:-0.156019 -0.108200 0.981810 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.396]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.396]  If point is visible? -0.570025, 0.818457, 5.036050 mu:-0.274802 unit_bearing:-0.156025 -0.106023 0.982047 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.396]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.396]  If point is visible? -0.580507, 0.818227, 5.034388 mu:-0.274802 unit_bearing:-0.158905 -0.106016 0.981585 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.396]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.396]  If point is visible? 1.813916, 0.642630, 4.623247 mu:-0.274802 unit_bearing:0.499087 -0.071890 0.863565 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.396]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.396]  If point is visible? 1.823706, 0.641864, 4.617627 mu:-0.274802 unit_bearing:0.501777 -0.071869 0.862006 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.396]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.396]  If point is visible? 1.804172, 0.635747, 4.630381 mu:-0.274802 unit_bearing:0.496409 -0.069774 0.865280 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.396]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.396]  If point is visible? 1.745350, 0.609539, 4.669192 mu:-0.274802 unit_bearing:0.480245 -0.061326 0.874988 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.396]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.396]  If point is visible? 1.794414, 0.628851, 4.637463 mu:-0.274802 unit_bearing:0.493728 -0.067656 0.866981 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.396]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.396]  If point is visible? 1.686132, 0.583015, 4.706489 mu:-0.274802 unit_bearing:0.463972 -0.052842 0.884272 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.396]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.396]  If point is visible? 1.696054, 0.582329, 4.701311 mu:-0.274802 unit_bearing:0.466698 -0.052828 0.882837 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.396]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.396]  If point is visible? 1.705965, 0.581639, 4.696100 mu:-0.274802 unit_bearing:0.469422 -0.052815 0.881393 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.396]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.396]  If point is visible? 1.696090, 0.574636, 4.702698 mu:-0.274802 unit_bearing:0.466708 -0.050683 0.882958 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.396]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.396]  If point is visible? -2.365655, 0.485080, 4.260250 mu:-0.274802 unit_bearing:-0.649467 -0.041074 0.759279 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.396]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.397]  If point is visible? -1.749731, 0.471074, 4.693050 mu:-0.274802 unit_bearing:-0.480210 -0.022760 0.876858 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.397]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.397]  If point is visible? -1.337794, 0.510938, 4.882318 mu:-0.274802 unit_bearing:-0.367009 -0.027294 0.929817 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.397]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.397]  If point is visible? -1.630596, 0.471187, 4.756100 mu:-0.274802 unit_bearing:-0.447472 -0.020679 0.894059 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.397]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.397]  If point is visible? 0.556214, 0.474602, 5.100472 mu:-0.274802 unit_bearing:0.153468 -0.010077 0.988102 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.397]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.397]  If point is visible? -1.630609, 0.463442, 4.757217 mu:-0.274802 unit_bearing:-0.447475 -0.018529 0.894104 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.397]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.397]  If point is visible? 1.445823, 0.458401, 4.842889 mu:-0.274802 unit_bearing:0.397934 -0.014285 0.917303 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.397]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.397]  If point is visible? 1.435703, 0.451159, 4.848296 mu:-0.274802 unit_bearing:0.395153 -0.012129 0.918535 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.397]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.397]  If point is visible? 1.445830, 0.450617, 4.843955 mu:-0.274802 unit_bearing:0.397936 -0.012126 0.917333 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.397]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.397]  If point is visible? 1.364641, 0.415823, 4.882829 mu:-0.274802 unit_bearing:0.375625 -0.001334 0.926771 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.397]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.397]  If point is visible? 1.374815, 0.415317, 4.878718 mu:-0.274802 unit_bearing:0.378421 -0.001334 0.925632 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.397]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.397]  If point is visible? -1.510263, 0.423981, 4.820618 mu:-0.274802 unit_bearing:-0.414404 -0.005643 0.910076 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.397]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.397]  If point is visible? -1.759688, 0.393109, 4.698189 mu:-0.274802 unit_bearing:-0.482947 -0.001322 0.875649 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.397]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.397]  If point is visible? -1.700330, 0.397019, 4.729974 mu:-0.274802 unit_bearing:-0.466635 -0.001324 0.884449 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.397]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.397]  If point is visible? -1.449652, 0.396104, 4.851224 mu:-0.274802 unit_bearing:-0.397748 0.002986 0.917490 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.397]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.397]  If point is visible? 0.524725, 0.427898, 5.111164 mu:-0.274802 unit_bearing:0.144815 0.003019 0.989454 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.397]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.397]  If point is visible? -1.700330, 0.389266, 4.730928 mu:-0.274802 unit_bearing:-0.466635 0.000822 0.884450 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.397]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.397]  If point is visible? 0.503721, 0.436152, 5.113200 mu:-0.274802 unit_bearing:0.139043 0.000836 0.990286 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.397]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.397]  If point is visible? 0.514224, 0.435970, 5.111721 mu:-0.274802 unit_bearing:0.141929 0.000836 0.989876 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.397]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.397]  If point is visible? -0.138997, 0.432245, 5.146688 mu:-0.274802 unit_bearing:-0.037577 0.003024 0.999289 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.397]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.397]  If point is visible? -1.680455, 0.359482, 4.744889 mu:-0.274802 unit_bearing:-0.461173 0.009413 0.887260 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.397]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.397]  If point is visible? -0.191713, 0.408253, 5.147099 mu:-0.274802 unit_bearing:-0.052064 0.009581 0.998598 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.397]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.397]  If point is visible? -0.181171, 0.408318, 5.147629 mu:-0.274802 unit_bearing:-0.049167 0.009581 0.998745 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.397]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.397]  If point is visible? -0.107360, 0.408665, 5.150491 mu:-0.274802 unit_bearing:-0.028883 0.009582 0.999537 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.397]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.397]  If point is visible? -0.191712, 0.400348, 5.147984 mu:-0.274802 unit_bearing:-0.052064 0.011767 0.998574 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.397]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.397]  If point is visible? -0.107360, 0.400759, 5.151377 mu:-0.274802 unit_bearing:-0.028883 0.011768 0.999514 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.397]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.397]  If point is visible? -0.117904, 0.384901, 5.152777 mu:-0.274802 unit_bearing:-0.031781 0.016140 0.999365 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.397]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.397]  If point is visible? 1.364641, 0.408013, 4.883790 mu:-0.274802 unit_bearing:0.375626 0.000828 0.926771 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.397]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.398]  If point is visible? -1.680439, 0.343945, 4.746600 mu:-0.274802 unit_bearing:-0.461169 0.013709 0.887206 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.398]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.398]  If point is visible? -0.202249, 0.360723, 5.151589 mu:-0.274802 unit_bearing:-0.054959 0.022695 0.998231 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.398]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.398]  If point is visible? -1.650440, 0.275706, 4.768650 mu:-0.274802 unit_bearing:-0.452925 0.033060 0.890935 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.398]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.398]  If point is visible? -0.181164, 0.352936, 5.153462 mu:-0.274802 unit_bearing:-0.049165 0.024882 0.998481 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.398]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.398]  If point is visible? -0.107356, 0.353278, 5.156325 mu:-0.274802 unit_bearing:-0.028882 0.024885 0.999273 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.398]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.398]  If point is visible? -0.086264, 0.353343, 5.156869 mu:-0.274802 unit_bearing:-0.023086 0.024885 0.999424 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.398]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.398]  If point is visible? -0.138989, 0.337311, 5.156791 mu:-0.274802 unit_bearing:-0.037575 0.029255 0.998865 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.398]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.398]  If point is visible? -0.138990, 0.345233, 5.156044 mu:-0.274802 unit_bearing:-0.037575 0.027070 0.998927 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.398]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.398]  If point is visible? -0.138988, 0.329387, 5.157521 mu:-0.274802 unit_bearing:-0.037575 0.031441 0.998799 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.398]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.398]  If point is visible? -0.601727, 0.173220, 5.121140 mu:-0.274802 unit_bearing:-0.164737 0.072818 0.983646 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.398]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.398]  If point is visible? 1.374300, 0.172344, 4.900219 mu:-0.274802 unit_bearing:0.378280 0.065658 0.923360 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.398]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.398]  If point is visible? -0.591201, 0.149574, 5.123948 mu:-0.274802 unit_bearing:-0.161844 0.079361 0.983620 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.398]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.398]  If point is visible? -0.580717, 0.149763, 5.125645 mu:-0.274802 unit_bearing:-0.158963 0.079367 0.984089 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.398]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.398]  If point is visible? -1.846785, 0.084385, 4.671782 mu:-0.274802 unit_bearing:-0.506881 0.081999 0.858107 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.398]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.398]  If point is visible? -1.846851, 0.092175, 4.671524 mu:-0.274802 unit_bearing:-0.506899 0.079865 0.858298 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.398]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.398]  If point is visible? -1.728719, 0.068046, 4.738693 mu:-0.274802 unit_bearing:-0.474436 0.088696 0.875810 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.398]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.398]  If point is visible? 1.384151, 0.108916, 4.898825 mu:-0.274802 unit_bearing:0.380987 0.082912 0.920855 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.398]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.398]  If point is visible? 1.384194, 0.116792, 4.898543 mu:-0.274802 unit_bearing:0.380999 0.080754 0.921042 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.398]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.398]  If point is visible? -0.202078, 0.034692, 5.169383 mu:-0.274802 unit_bearing:-0.054912 0.112218 0.992165 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.398]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.398]  If point is visible? -0.191546, 0.034752, 5.169946 mu:-0.274802 unit_bearing:-0.052018 0.112220 0.992321 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.398]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.398]  If point is visible? -0.107268, 0.035115, 5.173354 mu:-0.274802 unit_bearing:-0.028858 0.112235 0.993263 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.398]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.398]  If point is visible? 0.029724, 0.011302, 5.174881 mu:-0.274802 unit_bearing:0.008788 0.118781 0.992882 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.398]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.398]  If point is visible? -0.359914, 0.009455, 5.157408 mu:-0.274802 unit_bearing:-0.098286 0.118700 0.988054 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.398]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.398]  If point is visible? -0.349410, 0.017546, 5.158399 mu:-0.274802 unit_bearing:-0.095399 0.116526 0.988595 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.398]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.398]  If point is visible? 0.019188, 0.019298, 5.174925 mu:-0.274802 unit_bearing:0.005892 0.116602 0.993161 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.398]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.398]  If point is visible? 1.403772, 0.005528, 4.892432 mu:-0.274802 unit_bearing:0.386379 0.110897 0.915649 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.398]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.398]  If point is visible? 1.413312, -0.065964, 4.887775 mu:-0.274802 unit_bearing:0.389000 0.130241 0.911985 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.398]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.398]  If point is visible? 1.413240, -0.073864, 4.887641 mu:-0.274802 unit_bearing:0.388981 0.132391 0.911684 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.398]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.398]  If point is visible? -0.349286, -0.054344, 5.158046 mu:-0.274802 unit_bearing:-0.095365 0.136123 0.986091 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.398]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.398]  If point is visible? -0.328257, -0.054143, 5.160002 mu:-0.274802 unit_bearing:-0.089586 0.136133 0.986632 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.398]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.398]  If point is visible? -0.349271, -0.062338, 5.157919 mu:-0.274802 unit_bearing:-0.095361 0.138299 0.985789 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.398]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.399]  If point is visible? -0.012422, -0.060633, 5.174520 mu:-0.274802 unit_bearing:-0.002794 0.138390 0.990374 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.399]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.399]  If point is visible? 0.019179, -0.060638, 5.174471 mu:-0.274802 unit_bearing:0.005890 0.138389 0.990360 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.399]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.399]  If point is visible? 0.555252, -0.120976, 5.130044 mu:-0.274802 unit_bearing:0.153204 0.153359 0.976222 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.399]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.399]  If point is visible? 0.565726, -0.121140, 5.128398 mu:-0.274802 unit_bearing:0.156082 0.153349 0.975768 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.399]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.399]  If point is visible? 0.576198, -0.121308, 5.126721 mu:-0.274802 unit_bearing:0.158960 0.153338 0.975305 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.399]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.399]  If point is visible? 0.019177, -0.076639, 5.174169 mu:-0.274802 unit_bearing:0.005889 0.142744 0.989742 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.399]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.399]  If point is visible? 0.565698, -0.129133, 5.128124 mu:-0.274802 unit_bearing:0.156074 0.155520 0.975425 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.399]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.399]  If point is visible? 0.576169, -0.129300, 5.126447 mu:-0.274802 unit_bearing:0.158952 0.155509 0.974962 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.399]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.399]  If point is visible? -0.590263, -0.169431, 5.123219 mu:-0.274802 unit_bearing:-0.161586 0.166347 0.972738 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.399]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.399]  If point is visible? 0.565669, -0.137127, 5.127832 mu:-0.274802 unit_bearing:0.156066 0.157690 0.975078 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.399]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.399]  If point is visible? -0.621544, -0.193939, 5.116707 mu:-0.274802 unit_bearing:-0.170182 0.172813 0.970141 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.399]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.399]  If point is visible? -0.611016, -0.209763, 5.117621 mu:-0.274802 unit_bearing:-0.167289 0.177160 0.969860 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.399]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.399]  If point is visible? -0.611052, -0.201763, 5.118074 mu:-0.274802 unit_bearing:-0.167299 0.174993 0.970252 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.399]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.399]  If point is visible? -1.613120, -0.406067, 4.773712 mu:-0.274802 unit_bearing:-0.442669 0.219185 0.869484 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.399]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.399]  If point is visible? -1.916953, -0.380814, 4.607066 mu:-0.274802 unit_bearing:-0.526163 0.206716 0.824876 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.399]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.399]  If point is visible? -1.800475, -0.390748, 4.675469 mu:-0.274802 unit_bearing:-0.494155 0.211717 0.843201 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.399]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.399]  If point is visible? -1.741836, -0.388024, 4.708672 mu:-0.274802 unit_bearing:-0.478041 0.212086 0.852348 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.399]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.399]  If point is visible? 1.439792, -0.375709, 4.855927 mu:-0.274802 unit_bearing:0.396277 0.213658 0.892925 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.399]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.399]  If point is visible? -2.413453, -0.456230, 4.223093 mu:-0.274802 unit_bearing:-0.662603 0.214427 0.717620 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.399]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.399]  If point is visible? -1.553425, -0.403648, 4.803032 mu:-0.274802 unit_bearing:-0.426265 0.219507 0.877562 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.399]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.399]  If point is visible? -1.800300, -0.398591, 4.674583 mu:-0.274802 unit_bearing:-0.494107 0.213826 0.842696 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.399]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.399]  If point is visible? -1.682677, -0.393254, 4.739761 mu:-0.274802 unit_bearing:-0.461784 0.214553 0.860652 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.399]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.399]  If point is visible? -1.682518, -0.401125, 4.738869 mu:-0.274802 unit_bearing:-0.461740 0.216670 0.860145 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.399]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.399]  If point is visible? -2.404373, -0.463291, 4.230009 mu:-0.274802 unit_bearing:-0.660107 0.216585 0.719270 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.400]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.400]  If point is visible? 2.345943, -0.498227, 4.271004 mu:-0.274802 unit_bearing:0.645289 0.227487 0.729282 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.400]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.400]  If point is visible? 2.117227, -0.523901, 4.447332 mu:-0.274802 unit_bearing:0.582438 0.240394 0.776516 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.400]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.400]  If point is visible? 2.126504, -0.524387, 4.440468 mu:-0.274802 unit_bearing:0.584987 0.240297 0.774627 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.400]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.400]  If point is visible? 2.032837, -0.527372, 4.506322 mu:-0.274802 unit_bearing:0.559247 0.243317 0.792489 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.400]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.400]  If point is visible? 2.042240, -0.527840, 4.499774 mu:-0.274802 unit_bearing:0.561831 0.243225 0.790688 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.400]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.400]  If point is visible? 1.994845, -0.533299, 4.530949 mu:-0.274802 unit_bearing:0.548807 0.245758 0.799008 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.400]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.400]  If point is visible? 1.889541, -0.543999, 4.596672 mu:-0.274802 unit_bearing:0.519869 0.250878 0.816576 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.400]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.400]  If point is visible? 1.899132, -0.544433, 4.590647 mu:-0.274802 unit_bearing:0.522505 0.250794 0.814918 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.400]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.400]  If point is visible? 1.898900, -0.552241, 4.589389 mu:-0.274802 unit_bearing:0.522441 0.252882 0.814313 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.400]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.400]  If point is visible? 1.724372, -0.552623, 4.691301 mu:-0.274802 unit_bearing:0.474480 0.256399 0.842097 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.400]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.400]  If point is visible? 1.782437, -0.570710, 4.655570 mu:-0.274802 unit_bearing:0.490437 0.260136 0.831746 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.400]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.400]  If point is visible? 1.772931, -0.562468, 4.662483 mu:-0.274802 unit_bearing:0.487825 0.258119 0.833908 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.400]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.400]  If point is visible? 1.684975, -0.558917, 4.711441 mu:-0.274802 unit_bearing:0.463654 0.258790 0.847380 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.400]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.400]  If point is visible? -0.243031, -0.574717, 5.121293 mu:-0.274802 unit_bearing:-0.066166 0.276826 0.958639 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.400]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.400]  If point is visible? -0.232553, -0.574661, 5.121990 mu:-0.274802 unit_bearing:-0.063287 0.276834 0.958832 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.400]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.400]  If point is visible? -0.222074, -0.574608, 5.122656 mu:-0.274802 unit_bearing:-0.060407 0.276841 0.959015 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.400]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.400]  If point is visible? 0.029574, -0.574073, 5.129331 mu:-0.274802 unit_bearing:0.008746 0.276919 0.960853 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.400]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.400]  If point is visible? 0.029577, -0.566041, 5.130605 mu:-0.274802 unit_bearing:0.008747 0.274771 0.961470 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.400]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.400]  If point is visible? 1.476280, -0.574967, 4.811044 mu:-0.274802 unit_bearing:0.406304 0.266503 0.874010 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.400]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.400]  If point is visible? -1.466466, -0.732637, 4.785906 mu:-0.274802 unit_bearing:-0.402369 0.308667 0.861873 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.400]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.401]  If point is visible? 0.249231, -0.727272, 5.092744 mu:-0.274802 unit_bearing:0.069109 0.317479 0.945744 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.401]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.401]  If point is visible? -1.722296, -0.756545, 4.652350 mu:-0.274802 unit_bearing:-0.472671 0.310715 0.824644 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.401]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.401]  If point is visible? 0.217836, -0.735141, 5.093207 mu:-0.274802 unit_bearing:0.060481 0.319641 0.945606 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.401]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.401]  If point is visible? 1.057652, -0.754054, 4.934614 mu:-0.274802 unit_bearing:0.291264 0.319489 0.901716 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.401]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.401]  If point is visible? -0.772701, -0.804625, 5.000329 mu:-0.274802 unit_bearing:-0.211720 0.335483 0.917947 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.401]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.401]  If point is visible? 1.035680, -0.841119, 4.920936 mu:-0.274802 unit_bearing:0.285226 0.342778 0.895070 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.401]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.401]  If point is visible? 1.379706, -0.848843, 4.793640 mu:-0.274802 unit_bearing:0.379765 0.340621 0.860090 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.401]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.401]  If point is visible? 1.379499, -0.856733, 4.791661 mu:-0.274802 unit_bearing:0.379708 0.342707 0.859287 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.401]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.401]  If point is visible? -1.479591, -0.969297, 4.717272 mu:-0.274802 unit_bearing:-0.405975 0.370918 0.835227 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.401]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.401]  If point is visible? -1.489736, -0.961689, 4.714853 mu:-0.274802 unit_bearing:-0.408763 0.368762 0.834822 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.401]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.401]  If point is visible? -0.074808, -1.022953, 5.027546 mu:-0.274802 unit_bearing:-0.019938 0.395944 0.918058 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.401]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.401]  If point is visible? 2.305859, -1.172849, 4.093250 mu:-0.274802 unit_bearing:0.634274 0.405539 0.658205 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.401]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.401]  If point is visible? -0.022634, -1.237779, 4.957998 mu:-0.274802 unit_bearing:-0.005600 0.452209 0.891894 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.401]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.401]  If point is visible? -1.877319, 1.824763, 4.065200 mu:-0.274802 unit_bearing:-0.515272 -0.413010 0.750945 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.401]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.401]  If point is visible? -1.918647, 2.015021, 3.883252 mu:-0.274802 unit_bearing:-0.526629 -0.470997 0.707689 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.401]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.401]  If point is visible? -1.954589, 1.773525, 4.043084 mu:-0.274802 unit_bearing:-0.536506 -0.399775 0.743196 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.401]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.401]  If point is visible? -1.953714, 1.787061, 4.034138 mu:-0.274802 unit_bearing:-0.536265 -0.403767 0.741210 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.401]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.401]  If point is visible? -1.935116, 1.789763, 4.046631 mu:-0.274802 unit_bearing:-0.531155 -0.404086 0.744708 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.401]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.401]  If point is visible? 0.481085, 1.196650, 4.938498 mu:-0.274802 unit_bearing:0.132822 -0.212443 0.968104 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.401]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.401]  If point is visible? 0.355501, 1.137992, 4.973960 mu:-0.274802 unit_bearing:0.098312 -0.195256 0.975812 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.401]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.402]  If point is visible? 0.313584, 1.108021, 4.987828 mu:-0.274802 unit_bearing:0.086793 -0.186617 0.978591 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.402]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.402]  If point is visible? 0.898568, 1.108129, 4.883110 mu:-0.274802 unit_bearing:0.247548 -0.190154 0.950033 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.402]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.402]  If point is visible? 0.919293, 1.107306, 4.877735 mu:-0.274802 unit_bearing:0.253243 -0.190109 0.948539 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.402]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.402]  If point is visible? -0.443566, 1.029426, 4.998385 mu:-0.274802 unit_bearing:-0.121274 -0.164826 0.978839 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.402]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.402]  If point is visible? 2.136619, 0.853748, 4.353597 mu:-0.274802 unit_bearing:0.587767 -0.138504 0.797087 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.402]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.402]  If point is visible? 1.415428, 0.452230, 4.856879 mu:-0.274802 unit_bearing:0.389582 -0.012133 0.920912 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.402]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.402]  If point is visible? -1.660569, 0.376253, 4.753294 mu:-0.274802 unit_bearing:-0.455708 0.005121 0.890114 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.402]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.402]  If point is visible? -0.107357, 0.361196, 5.155543 mu:-0.274802 unit_bearing:-0.028883 0.022699 0.999325 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.402]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.402]  If point is visible? -0.128446, 0.345278, 5.156423 mu:-0.274802 unit_bearing:-0.034678 0.027070 0.999032 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.402]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.402]  If point is visible? -0.359965, 0.041378, 5.157178 mu:-0.274802 unit_bearing:-0.098300 0.109985 0.989060 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.402]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.402]  calculated Z=  0.725111 tau: 0.013982 tau_inv: 0.026603
[19:36:15.402]  seeds updated
[19:36:15.402]  If point is visible? -0.338929, 0.041594, 5.159192 mu:-0.274802 unit_bearing:-0.092519 0.109994 0.989617 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.402]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.402]  If point is visible? -0.359940, 0.025419, 5.157328 mu:-0.274802 unit_bearing:-0.098293 0.114343 0.988567 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.402]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.402]  If point is visible? -0.338712, -0.086225, 5.158425 mu:-0.274802 unit_bearing:-0.092459 0.144831 0.985127 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.402]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.402]  If point is visible? -0.359767, -0.070438, 5.156749 mu:-0.274802 unit_bearing:-0.098245 0.140469 0.985199 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.402]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.402]  If point is visible? -0.317347, -0.246184, 5.153003 mu:-0.274802 unit_bearing:-0.086588 0.188279 0.978291 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.402]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.402]  If point is visible? -2.404973, -0.448020, 4.232056 mu:-0.274802 unit_bearing:-0.660272 0.212488 0.720340 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.402]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.402]  If point is visible? -2.387355, -0.446868, 4.247845 mu:-0.274802 unit_bearing:-0.655431 0.212703 0.724685 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.402]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.402]  If point is visible? -2.416580, -0.586365, 4.194891 mu:-0.274802 unit_bearing:-0.663462 0.248977 0.705570 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.402]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.402]  If point is visible? -2.399121, -0.585356, 4.210861 mu:-0.274802 unit_bearing:-0.658664 0.249237 0.709960 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.402]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.402]  If point is visible? 2.345636, -0.505882, 4.269862 mu:-0.274802 unit_bearing:0.645205 0.229536 0.728714 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.402]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.402]  If point is visible? 1.743075, -0.584811, 4.675168 mu:-0.274802 unit_bearing:0.479620 0.264638 0.836619 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.402]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.402]  If point is visible? 1.724372, -0.552623, 4.691301 mu:-0.274802 unit_bearing:0.474480 0.256399 0.842097 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.402]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.402]  If point is visible? -0.211615, -0.566527, 5.124567 mu:-0.274802 unit_bearing:-0.057533 0.274701 0.959807 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.402]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.402]  If point is visible? -0.190652, -0.566433, 5.125744 mu:-0.274802 unit_bearing:-0.051772 0.274715 0.960131 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.402]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.402]  If point is visible? -0.001890, -0.566030, 5.130748 mu:-0.274802 unit_bearing:0.000100 0.274773 0.961509 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.402]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.402]  If point is visible? 0.019088, -0.566035, 5.130683 mu:-0.274802 unit_bearing:0.005865 0.274772 0.961492 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.402]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.402]  If point is visible? -0.190687, -0.550372, 5.128239 mu:-0.274802 unit_bearing:-0.051782 0.270418 0.961349 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.402]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.403]  If point is visible? -0.001889, -0.549965, 5.133240 mu:-0.274802 unit_bearing:0.000100 0.270475 0.962727 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.403]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.403]  If point is visible? -0.211184, -0.727069, 5.095539 mu:-0.274802 unit_bearing:-0.057414 0.317518 0.946513 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.403]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.403]  If point is visible? 0.249231, -0.727272, 5.092744 mu:-0.274802 unit_bearing:0.069109 0.317479 0.945744 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.403]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.403]  If point is visible? -0.440796, -0.760656, 5.067526 mu:-0.274802 unit_bearing:-0.120512 0.325741 0.937747 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.403]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.403]  If point is visible? -2.129312, -0.956349, 4.329480 mu:-0.274802 unit_bearing:-0.584520 0.354399 0.729889 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.403]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.403]  If point is visible? 0.268068, -1.158893, 4.974964 mu:-0.274802 unit_bearing:0.074285 0.431261 0.899164 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.403]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.403]  If point is visible? 2.305859, -1.172849, 4.093250 mu:-0.274802 unit_bearing:0.634274 0.405539 0.658205 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.403]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.403]  If point is visible? -2.080235, 1.509641, 4.113880 mu:-0.274802 unit_bearing:-0.571034 -0.325429 0.753669 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.403]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.403]  If point is visible? 0.397203, 1.213440, 4.943430 mu:-0.274802 unit_bearing:0.109772 -0.216858 0.970012 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.403]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.403]  If point is visible? 0.313545, 1.123311, 4.982886 mu:-0.274802 unit_bearing:0.086782 -0.190953 0.977755 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.403]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.403]  If point is visible? -1.869206, 1.945088, 3.980093 mu:-0.274802 unit_bearing:-0.513042 -0.448679 0.731761 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.403]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.403]  If point is visible? 0.397316, 1.183039, 4.954091 mu:-0.274802 unit_bearing:0.109802 -0.208209 0.971902 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.403]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.403]  If point is visible? 0.355455, 1.153249, 4.968877 mu:-0.274802 unit_bearing:0.098299 -0.199588 0.974937 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.403]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.403]  If point is visible? 1.715356, 0.665346, 4.674420 mu:-0.274802 unit_bearing:0.472003 -0.076372 0.878283 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.403]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.403]  If point is visible? 1.354429, 0.470938, 4.879681 mu:-0.274802 unit_bearing:0.372819 -0.016472 0.927758 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.403]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.403]  If point is visible? 1.395112, 0.468866, 4.863177 mu:-0.274802 unit_bearing:0.383999 -0.016460 0.923187 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.403]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.403]  If point is visible? -0.317655, -0.102030, 5.159909 mu:-0.274802 unit_bearing:-0.086673 0.149192 0.985002 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.403]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.403]  If point is visible? -0.065074, -0.100697, 5.173103 mu:-0.274802 unit_bearing:-0.017263 0.149270 0.988646 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.403]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.403]  If point is visible? -0.317908, 0.057752, 5.160863 mu:-0.274802 unit_bearing:-0.086743 0.105642 0.990614 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.403]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.403]  If point is visible? -0.065124, 0.059167, 5.174015 mu:-0.274802 unit_bearing:-0.017277 0.105697 0.994248 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.403]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.403]  If point is visible? -0.022967, 0.059219, 5.174498 mu:-0.274802 unit_bearing:-0.005692 0.105699 0.994382 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.403]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.403]  If point is visible? -2.423111, -0.433920, 4.218100 mu:-0.274802 unit_bearing:-0.665257 0.208175 0.717006 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.403]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.403]  If point is visible? -2.387934, -0.431579, 4.249811 mu:-0.274802 unit_bearing:-0.655590 0.208598 0.725733 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.403]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.403]  If point is visible? -2.352459, -0.429263, 4.280954 mu:-0.274802 unit_bearing:-0.645841 0.209010 0.734305 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.403]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.404]  If point is visible? -1.554258, -0.356264, 4.808144 mu:-0.274802 unit_bearing:-0.426494 0.206754 0.880543 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.404]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.404]  If point is visible? 2.237209, -0.514942, 4.357729 mu:-0.274802 unit_bearing:0.615409 0.234950 0.752376 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.404]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.404]  If point is visible? 2.309356, -0.519085, 4.298158 mu:-0.274802 unit_bearing:0.635235 0.234085 0.735989 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.404]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.404]  If point is visible? -2.416580, -0.586365, 4.194891 mu:-0.274802 unit_bearing:-0.663462 0.248977 0.705570 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.404]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.404]  If point is visible? 1.898666, -0.560049, 4.588112 mu:-0.274802 unit_bearing:0.522377 0.254969 0.813704 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.404]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.404]  If point is visible? 2.124847, -0.570806, 4.432920 mu:-0.274802 unit_bearing:0.584532 0.252705 0.771014 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.404]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.404]  If point is visible? -0.900310, -0.495256, 5.027533 mu:-0.274802 unit_bearing:-0.246788 0.252012 0.935727 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.404]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.404]  If point is visible? -2.344909, -0.612929, 4.252392 mu:-0.274802 unit_bearing:-0.643767 0.258149 0.720364 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.404]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.404]  If point is visible? -0.064856, -0.517881, 5.137455 mu:-0.274802 unit_bearing:-0.017203 0.261865 0.964951 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.404]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.404]  If point is visible? -0.899973, -0.527218, 5.022937 mu:-0.274802 unit_bearing:-0.246695 0.260576 0.933403 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.404]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.404]  If point is visible? -1.737924, -0.866627, 4.614790 mu:-0.274802 unit_bearing:-0.476966 0.339482 0.810713 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.404]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.404]  If point is visible? 1.264129, -0.600092, 4.894383 mu:-0.274802 unit_bearing:0.348005 0.276147 0.895899 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.404]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.404]  If point is visible? 1.896717, -0.622487, 4.577210 mu:-0.274802 unit_bearing:0.521841 0.271634 0.808639 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.404]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.404]  If point is visible? -1.659083, -0.895579, 4.649744 mu:-0.274802 unit_bearing:-0.455300 0.348550 0.819277 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.404]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.404]  If point is visible? 0.268068, -1.158893, 4.974964 mu:-0.274802 unit_bearing:0.074285 0.431261 0.899164 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.404]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.404]  If point is visible? 0.977089, -0.656709, 4.978703 mu:-0.274802 unit_bearing:0.269125 0.294414 0.917002 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.404]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.404]  If point is visible? -0.064834, -0.550010, 5.132689 mu:-0.274802 unit_bearing:-0.017197 0.270468 0.962575 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.404]  Z inverse min: -0.240267, Z inverse max: 0.000000
[19:36:15.404]  If point is visible? -0.621961, 0.681849, 2.291631 mu:-0.839226 unit_bearing:-0.520075 -0.490683 0.699109 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.404]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.404]  If point is visible? -0.622866, 0.671352, 2.300239 mu:-0.839226 unit_bearing:-0.520834 -0.481059 0.705205 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.404]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.405]  If point is visible? -0.626054, 0.668757, 2.299919 mu:-0.839226 unit_bearing:-0.523509 -0.478930 0.704673 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.405]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.405]  If point is visible? -0.625575, 0.594007, 2.359753 mu:-0.839226 unit_bearing:-0.523107 -0.410546 0.746867 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.405]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.405]  If point is visible? -0.619308, 0.597084, 2.362243 mu:-0.839226 unit_bearing:-0.517848 -0.412854 0.749256 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.405]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.405]  If point is visible? -0.641397, 0.582953, 2.355513 mu:-0.839226 unit_bearing:-0.536386 -0.401772 0.742206 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.405]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.405]  If point is visible? -0.638067, 0.587825, 2.354623 mu:-0.839226 unit_bearing:-0.533591 -0.405921 0.741962 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.405]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.405]  If point is visible? -0.613026, 0.600153, 2.364683 mu:-0.839226 unit_bearing:-0.512576 -0.415161 0.751603 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.405]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.405]  If point is visible? -0.118305, 0.558487, 2.582227 mu:-0.839226 unit_bearing:-0.097394 -0.358205 0.928549 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.405]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.405]  If point is visible? -0.114894, 0.558549, 2.582567 mu:-0.839226 unit_bearing:-0.094531 -0.358222 0.928839 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.405]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.405]  If point is visible? -0.710328, 0.416841, 2.399030 mu:-0.839226 unit_bearing:-0.594234 -0.258955 0.761464 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.405]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.405]  If point is visible? 0.254862, 0.421220, 2.620636 mu:-0.839226 unit_bearing:0.215778 -0.239938 0.946504 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.405]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.405]  If point is visible? 0.241230, 0.424159, 2.622635 mu:-0.839226 unit_bearing:0.204338 -0.242181 0.948469 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.405]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.405]  If point is visible? 0.292224, 0.417311, 2.612617 mu:-0.839226 unit_bearing:0.247133 -0.237502 0.939424 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.405]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.405]  If point is visible? 0.295611, 0.417170, 2.611740 mu:-0.839226 unit_bearing:0.249976 -0.237474 0.938679 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.405]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.406]  If point is visible? 0.227790, 0.399903, 2.634695 mu:-0.839226 unit_bearing:0.193058 -0.220743 0.956034 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.406]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.406]  If point is visible? 0.231201, 0.399796, 2.634014 mu:-0.839226 unit_bearing:0.195921 -0.220723 0.955456 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.406]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.406]  If point is visible? 0.234611, 0.399687, 2.633323 mu:-0.839226 unit_bearing:0.198783 -0.220703 0.954869 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.406]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.406]  If point is visible? 0.302510, 0.404567, 2.614617 mu:-0.839226 unit_bearing:0.255766 -0.226682 0.939787 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.406]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.406]  If point is visible? 0.224361, 0.402485, 2.634464 mu:-0.839226 unit_bearing:0.190181 -0.222918 0.956106 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.406]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.406]  If point is visible? 0.227772, 0.402380, 2.633794 mu:-0.839226 unit_bearing:0.193044 -0.222898 0.955537 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.406]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.406]  If point is visible? 0.231183, 0.402272, 2.633113 mu:-0.839226 unit_bearing:0.195906 -0.222878 0.954959 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.406]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.406]  If point is visible? 0.159454, 0.389279, 2.650579 mu:-0.839226 unit_bearing:0.135709 -0.210269 0.968179 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.406]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.406]  If point is visible? 0.162882, 0.389205, 2.650102 mu:-0.839226 unit_bearing:0.138586 -0.210256 0.967774 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.406]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.406]  If point is visible? 0.166309, 0.389130, 2.649615 mu:-0.839226 unit_bearing:0.141462 -0.210243 0.967360 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.406]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.406]  If point is visible? 0.265255, 0.398633, 2.626643 mu:-0.839226 unit_bearing:0.224500 -0.220509 0.949197 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.406]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.406]  If point is visible? 0.268654, 0.398508, 2.625849 mu:-0.839226 unit_bearing:0.227353 -0.220486 0.948523 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.406]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.406]  If point is visible? 0.272052, 0.398381, 2.625046 mu:-0.839226 unit_bearing:0.230205 -0.220462 0.947841 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.406]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.406]  If point is visible? 0.265296, 0.393682, 2.628430 mu:-0.839226 unit_bearing:0.224534 -0.216202 0.950179 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.406]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.406]  If point is visible? 0.268696, 0.393557, 2.627637 mu:-0.839226 unit_bearing:0.227388 -0.216179 0.949506 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.406]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.406]  If point is visible? 0.272095, 0.393431, 2.626833 mu:-0.839226 unit_bearing:0.230240 -0.216156 0.948823 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.406]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.406]  If point is visible? 0.145766, 0.382086, 2.654962 mu:-0.839226 unit_bearing:0.124222 -0.203829 0.971094 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.406]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.406]  If point is visible? 0.149197, 0.382019, 2.654525 mu:-0.839226 unit_bearing:0.127102 -0.203818 0.970723 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.406]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.407]  If point is visible? 0.152628, 0.381950, 2.654079 mu:-0.839226 unit_bearing:0.129981 -0.203806 0.970344 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.407]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.407]  If point is visible? 0.258625, 0.376552, 2.636056 mu:-0.839226 unit_bearing:0.218936 -0.201153 0.954780 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.407]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.407]  If point is visible? 0.149207, 0.379525, 2.655373 mu:-0.839226 unit_bearing:0.127110 -0.201654 0.971174 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.407]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.407]  If point is visible? 0.285907, 0.365606, 2.632936 mu:-0.839226 unit_bearing:0.241832 -0.192355 0.951061 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.407]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.407]  If point is visible? 0.262065, 0.371458, 2.636966 mu:-0.839226 unit_bearing:0.221823 -0.196817 0.955017 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.407]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.407]  If point is visible? 0.302916, 0.359958, 2.630200 mu:-0.839226 unit_bearing:0.256106 -0.187930 0.948205 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.407]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.407]  If point is visible? 0.265413, 0.378797, 2.633652 mu:-0.839226 unit_bearing:0.224633 -0.203269 0.953007 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.407]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.407]  If point is visible? 0.145786, 0.377097, 2.656650 mu:-0.839226 unit_bearing:0.124239 -0.199501 0.971990 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.407]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.407]  If point is visible? 0.302896, 0.362447, 2.629384 mu:-0.839226 unit_bearing:0.256089 -0.190087 0.947779 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.407]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.407]  If point is visible? 0.004757, 0.360986, 2.671613 mu:-0.839226 unit_bearing:0.005883 -0.184551 0.982805 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.407]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.407]  If point is visible? 0.111490, 0.360171, 2.666184 mu:-0.839226 unit_bearing:0.095457 -0.184427 0.978200 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.407]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.407]  If point is visible? 0.114928, 0.360121, 2.665848 mu:-0.839226 unit_bearing:0.098342 -0.184419 0.977915 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.407]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.407]  If point is visible? 0.774595, 0.317983, 2.381776 mu:-0.839226 unit_bearing:0.651951 -0.178374 0.736982 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.407]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.407]  If point is visible? 0.326642, 0.356467, 2.624453 mu:-0.839226 unit_bearing:0.276018 -0.185610 0.943061 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.407]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.407]  If point is visible? 0.754422, 0.308871, 2.403172 mu:-0.839226 unit_bearing:0.635022 -0.168595 0.753872 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.407]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.407]  If point is visible? 0.108058, 0.357714, 2.667304 mu:-0.839226 unit_bearing:0.092576 -0.182266 0.978881 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.407]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.407]  If point is visible? 0.748634, 0.304855, 2.409601 mu:-0.839226 unit_bearing:0.630165 -0.164592 0.758816 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.407]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.407]  If point is visible? 0.733976, 0.297124, 2.424612 mu:-0.839226 unit_bearing:0.617863 -0.156618 0.770530 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.407]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.408]  If point is visible? 0.722120, 0.291338, 2.436197 mu:-0.839226 unit_bearing:0.607913 -0.150613 0.779588 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.408]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.408]  If point is visible? 0.725137, 0.290978, 2.433878 mu:-0.839226 unit_bearing:0.610445 -0.150550 0.777619 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.408]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.408]  If point is visible? -0.750583, 0.281184, 2.419678 mu:-0.839226 unit_bearing:-0.628018 -0.143845 0.764789 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.408]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.408]  If point is visible? 0.707122, 0.285830, 2.449805 mu:-0.839226 unit_bearing:0.595327 -0.144633 0.790359 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.408]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.408]  If point is visible? 0.710165, 0.285482, 2.447543 mu:-0.839226 unit_bearing:0.597880 -0.144575 0.788440 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.408]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.408]  If point is visible? 0.713203, 0.285132, 2.445270 mu:-0.839226 unit_bearing:0.600430 -0.144516 0.786511 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.408]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.408]  If point is visible? 0.704176, 0.281312, 2.453482 mu:-0.839226 unit_bearing:0.592854 -0.140494 0.792960 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.408]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.408]  If point is visible? 0.704226, 0.278878, 2.454186 mu:-0.839226 unit_bearing:0.592896 -0.138395 0.793298 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.408]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.408]  If point is visible? 0.701269, 0.274345, 2.457815 mu:-0.839226 unit_bearing:0.590414 -0.134248 0.795857 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.408]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.408]  If point is visible? 0.701316, 0.271907, 2.458502 mu:-0.839226 unit_bearing:0.590454 -0.132147 0.796179 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.408]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.408]  If point is visible? -0.757167, 0.251390, 2.423050 mu:-0.839226 unit_bearing:-0.633543 -0.118682 0.764551 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.408]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.408]  If point is visible? -0.225851, 0.277241, 2.673153 mu:-0.839226 unit_bearing:-0.187649 -0.114636 0.975524 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.408]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.408]  If point is visible? 0.695370, 0.262802, 2.465629 mu:-0.839226 unit_bearing:0.585464 -0.123833 0.801185 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.408]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.408]  If point is visible? 0.692383, 0.258233, 2.469140 mu:-0.839226 unit_bearing:0.582957 -0.119668 0.803642 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.408]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.408]  If point is visible? 0.695454, 0.257907, 2.466936 mu:-0.839226 unit_bearing:0.585535 -0.119622 0.801773 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.408]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.409]  If point is visible? -0.191595, 0.270466, 2.680978 mu:-0.839226 unit_bearing:-0.158900 -0.108192 0.981349 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.409]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.409]  If point is visible? -0.191601, 0.267926, 2.681574 mu:-0.839226 unit_bearing:-0.158905 -0.106016 0.981585 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.409]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.409]  If point is visible? 0.655456, 0.242275, 2.499679 mu:-0.839226 unit_bearing:0.551967 -0.103252 0.827448 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.409]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.409]  If point is visible? 0.658583, 0.241978, 2.497613 mu:-0.839226 unit_bearing:0.554591 -0.103217 0.825697 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.409]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.409]  If point is visible? 0.655488, 0.239804, 2.500275 mu:-0.839226 unit_bearing:0.551994 -0.101133 0.827692 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.409]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.409]  If point is visible? 0.636756, 0.231628, 2.514762 mu:-0.839226 unit_bearing:0.536273 -0.092841 0.838923 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.409]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.409]  If point is visible? 0.011676, 0.234265, 2.704292 mu:-0.839226 unit_bearing:0.011690 -0.075654 0.997066 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.409]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.409]  If point is visible? 0.592446, 0.210427, 2.546948 mu:-0.839226 unit_bearing:0.499087 -0.071890 0.863565 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.409]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.409]  If point is visible? 0.595651, 0.210176, 2.545107 mu:-0.839226 unit_bearing:0.501777 -0.071869 0.862006 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.409]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.409]  If point is visible? 0.589255, 0.208173, 2.549284 mu:-0.839226 unit_bearing:0.496409 -0.069774 0.865280 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.409]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.409]  If point is visible? 0.586060, 0.205915, 2.551603 mu:-0.839226 unit_bearing:0.493728 -0.067656 0.866981 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.409]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.409]  If point is visible? 0.569994, 0.199592, 2.561992 mu:-0.839226 unit_bearing:0.480245 -0.061326 0.874988 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.409]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.409]  If point is visible? 0.570008, 0.197080, 2.562470 mu:-0.839226 unit_bearing:0.480257 -0.059184 0.875129 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.409]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.409]  If point is visible? 0.553840, 0.193200, 2.572050 mu:-0.839226 unit_bearing:0.466688 -0.054973 0.882712 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.409]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.409]  If point is visible? 0.557085, 0.192974, 2.570343 mu:-0.839226 unit_bearing:0.469412 -0.054959 0.881267 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.409]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.409]  If point is visible? 0.560327, 0.192746, 2.568626 mu:-0.839226 unit_bearing:0.472133 -0.054945 0.879813 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.409]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.409]  If point is visible? -0.776142, 0.158838, 2.428085 mu:-0.839226 unit_bearing:-0.649467 -0.041074 0.759279 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.409]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.409]  If point is visible? 0.544131, 0.183784, 2.578906 mu:-0.839226 unit_bearing:0.458540 -0.046428 0.887460 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.409]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.410]  If point is visible? 0.557098, 0.190456, 2.570803 mu:-0.839226 unit_bearing:0.469422 -0.052815 0.881393 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.410]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.410]  If point is visible? 0.553864, 0.188163, 2.572964 mu:-0.839226 unit_bearing:0.466708 -0.050683 0.882958 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.410]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.410]  If point is visible? -0.439572, 0.167305, 2.631780 mu:-0.839226 unit_bearing:-0.367009 -0.027294 0.929817 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.410]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.410]  If point is visible? -0.535449, 0.154289, 2.590450 mu:-0.839226 unit_bearing:-0.447472 -0.020679 0.894059 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.410]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.410]  If point is visible? -0.574460, 0.154252, 2.569804 mu:-0.839226 unit_bearing:-0.480210 -0.022760 0.876858 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.410]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.410]  If point is visible? -0.535454, 0.151753, 2.590816 mu:-0.839226 unit_bearing:-0.447475 -0.018529 0.894104 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.410]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.410]  If point is visible? 0.461964, 0.145530, 2.623793 mu:-0.839226 unit_bearing:0.389584 -0.009973 0.920937 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.410]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.410]  If point is visible? 0.465285, 0.145356, 2.622393 mu:-0.839226 unit_bearing:0.392370 -0.009971 0.919753 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.410]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.410]  If point is visible? 0.471917, 0.147553, 2.619218 mu:-0.839226 unit_bearing:0.397936 -0.012126 0.917333 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.410]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.410]  If point is visible? 0.451992, 0.140938, 2.628598 mu:-0.839226 unit_bearing:0.381215 -0.005656 0.924469 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.410]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.410]  If point is visible? 0.455319, 0.140768, 2.627230 mu:-0.839226 unit_bearing:0.384007 -0.005655 0.923313 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.410]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.410]  If point is visible? 0.445332, 0.136160, 2.631947 mu:-0.839226 unit_bearing:0.375625 -0.001334 0.926771 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.410]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.410]  If point is visible? 0.448663, 0.135994, 2.630601 mu:-0.839226 unit_bearing:0.378421 -0.001334 0.925632 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.410]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.410]  If point is visible? 0.180615, 0.155407, 2.703214 mu:-0.839226 unit_bearing:0.153468 -0.010077 0.988102 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.410]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.410]  If point is visible? -0.577721, 0.128722, 2.571487 mu:-0.839226 unit_bearing:-0.482947 -0.001322 0.875649 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.410]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.410]  If point is visible? -0.558284, 0.130003, 2.581895 mu:-0.839226 unit_bearing:-0.466635 -0.001324 0.884449 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.410]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.410]  If point is visible? -0.476200, 0.129703, 2.621598 mu:-0.839226 unit_bearing:-0.397748 0.002986 0.917490 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.410]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.411]  If point is visible? 0.445332, 0.133603, 2.632262 mu:-0.839226 unit_bearing:0.375626 0.000828 0.926771 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.411]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.411]  If point is visible? -0.558284, 0.127464, 2.582207 mu:-0.839226 unit_bearing:-0.466635 0.000822 0.884450 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.411]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.411]  If point is visible? -0.551774, 0.115168, 2.587062 mu:-0.839226 unit_bearing:-0.461171 0.011561 0.887236 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.411]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.411]  If point is visible? -0.047030, 0.141537, 2.718347 mu:-0.839226 unit_bearing:-0.037577 0.003024 0.999289 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.411]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.411]  If point is visible? 0.163426, 0.142817, 2.707381 mu:-0.839226 unit_bearing:0.139043 0.000836 0.990286 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.411]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.411]  If point is visible? 0.166865, 0.142757, 2.706897 mu:-0.839226 unit_bearing:0.141929 0.000836 0.989876 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.411]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.411]  If point is visible? 0.170304, 0.140114, 2.706714 mu:-0.839226 unit_bearing:0.144815 0.003019 0.989454 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.411]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.411]  If point is visible? -0.064292, 0.133681, 2.718481 mu:-0.839226 unit_bearing:-0.052064 0.009581 0.998598 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.411]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.411]  If point is visible? -0.060840, 0.133702, 2.718655 mu:-0.839226 unit_bearing:-0.049167 0.009581 0.998745 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.411]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.411]  If point is visible? -0.036670, 0.133816, 2.719592 mu:-0.839226 unit_bearing:-0.028883 0.009582 0.999537 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.411]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.411]  If point is visible? -0.064291, 0.131093, 2.718771 mu:-0.839226 unit_bearing:-0.052064 0.011767 0.998574 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.411]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.411]  If point is visible? -0.036670, 0.131227, 2.719882 mu:-0.839226 unit_bearing:-0.028883 0.011768 0.999514 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.411]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.411]  If point is visible? -0.064291, 0.128503, 2.719055 mu:-0.839226 unit_bearing:-0.052063 0.013953 0.998546 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.411]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.411]  If point is visible? -0.551771, 0.112624, 2.587339 mu:-0.839226 unit_bearing:-0.461169 0.013709 0.887206 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.411]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.411]  If point is visible? -0.064289, 0.115547, 2.720391 mu:-0.839226 unit_bearing:-0.052062 0.024881 0.998334 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.411]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.411]  If point is visible? -0.060837, 0.115568, 2.720565 mu:-0.839226 unit_bearing:-0.049165 0.024882 0.998481 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.411]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.411]  If point is visible? -0.036669, 0.115680, 2.721502 mu:-0.839226 unit_bearing:-0.028882 0.024885 0.999273 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.411]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.411]  If point is visible? -0.029763, 0.115701, 2.721681 mu:-0.839226 unit_bearing:-0.023086 0.024885 0.999424 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.411]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.411]  If point is visible? -0.541940, 0.087726, 2.594778 mu:-0.839226 unit_bearing:-0.452919 0.035208 0.890856 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.411]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.411]  If point is visible? -0.050479, 0.105246, 2.721993 mu:-0.839226 unit_bearing:-0.040472 0.033626 0.998615 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.411]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.411]  If point is visible? -0.541947, 0.090279, 2.594560 mu:-0.839226 unit_bearing:-0.452925 0.033060 0.890935 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.411]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.411]  If point is visible? -0.050479, 0.107841, 2.721760 mu:-0.839226 unit_bearing:-0.040472 0.031441 0.998686 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.411]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.411]  If point is visible? -0.047027, 0.107857, 2.721894 mu:-0.839226 unit_bearing:-0.037575 0.031441 0.998799 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.411]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.412]  If point is visible? 0.448495, 0.056434, 2.637641 mu:-0.839226 unit_bearing:0.378280 0.065658 0.923360 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.412]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.412]  If point is visible? -0.198550, 0.056720, 2.709981 mu:-0.839226 unit_bearing:-0.164737 0.072818 0.983646 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.412]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.412]  If point is visible? -0.195103, 0.048978, 2.710901 mu:-0.839226 unit_bearing:-0.161844 0.079361 0.983620 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.412]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.412]  If point is visible? -0.191670, 0.049039, 2.711456 mu:-0.839226 unit_bearing:-0.158963 0.079367 0.984089 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.412]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.412]  If point is visible? -0.606240, 0.027632, 2.562840 mu:-0.839226 unit_bearing:-0.506881 0.081999 0.858107 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.412]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.412]  If point is visible? 0.451735, 0.038243, 2.637093 mu:-0.839226 unit_bearing:0.380999 0.080754 0.921042 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.412]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.412]  If point is visible? -0.567601, 0.024842, 2.584681 mu:-0.839226 unit_bearing:-0.474454 0.086556 0.876015 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.412]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.412]  If point is visible? -0.567580, 0.022281, 2.584750 mu:-0.839226 unit_bearing:-0.474436 0.088696 0.875810 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.412]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.412]  If point is visible? -0.067686, 0.011360, 2.725778 mu:-0.839226 unit_bearing:-0.054912 0.112218 0.992165 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.412]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.412]  If point is visible? -0.064237, 0.011379, 2.725963 mu:-0.839226 unit_bearing:-0.052018 0.112220 0.992321 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.412]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.412]  If point is visible? -0.036640, 0.011498, 2.727079 mu:-0.839226 unit_bearing:-0.028858 0.112235 0.993263 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.412]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.412]  If point is visible? 0.004767, 0.006319, 2.727593 mu:-0.839226 unit_bearing:0.005892 0.116602 0.993161 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.412]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.412]  If point is visible? 0.458145, 0.001810, 2.635091 mu:-0.839226 unit_bearing:0.386379 0.110897 0.915649 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.412]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.412]  If point is visible? -0.119368, 0.003096, 2.721857 mu:-0.839226 unit_bearing:-0.098286 0.118700 0.988054 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.412]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.412]  If point is visible? -0.115929, 0.005745, 2.722182 mu:-0.839226 unit_bearing:-0.095399 0.116526 0.988595 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.412]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.412]  If point is visible? -0.115893, -0.015178, 2.722102 mu:-0.839226 unit_bearing:-0.095369 0.133947 0.986389 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.412]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.412]  If point is visible? 0.461269, -0.021600, 2.633567 mu:-0.839226 unit_bearing:0.389000 0.130241 0.911985 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.412]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.412]  If point is visible? -0.026277, -0.022498, 2.727176 mu:-0.839226 unit_bearing:-0.020161 0.140563 0.989866 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.412]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.412]  If point is visible? 0.004764, -0.022475, 2.727398 mu:-0.839226 unit_bearing:0.005890 0.140567 0.990054 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.412]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.412]  If point is visible? 0.461221, -0.026773, 2.633473 mu:-0.839226 unit_bearing:0.388960 0.134541 0.911377 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.412]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.412]  If point is visible? 0.461245, -0.024186, 2.633523 mu:-0.839226 unit_bearing:0.388981 0.132391 0.911684 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.412]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.412]  If point is visible? 0.180291, -0.042231, 2.712807 mu:-0.839226 unit_bearing:0.153196 0.155530 0.975880 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.412]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.412]  If point is visible? 0.183720, -0.042284, 2.712268 mu:-0.839226 unit_bearing:0.156074 0.155520 0.975425 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.412]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.412]  If point is visible? 0.187149, -0.042339, 2.711719 mu:-0.839226 unit_bearing:0.158952 0.155509 0.974962 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.412]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.412]  If point is visible? 0.004764, -0.025095, 2.727345 mu:-0.839226 unit_bearing:0.005889 0.142744 0.989742 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.412]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.412]  If point is visible? -0.115888, -0.017795, 2.722066 mu:-0.839226 unit_bearing:-0.095365 0.136123 0.986091 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.413]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.413]  If point is visible? -0.109002, -0.017729, 2.722707 mu:-0.839226 unit_bearing:-0.089586 0.136133 0.986632 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.413]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.413]  If point is visible? 0.080571, -0.051597, 2.723628 mu:-0.839226 unit_bearing:0.069508 0.164438 0.983935 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.413]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.413]  If point is visible? -0.115883, -0.020412, 2.722024 mu:-0.839226 unit_bearing:-0.095361 0.138299 0.985789 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.413]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.413]  If point is visible? 0.183711, -0.044902, 2.712173 mu:-0.839226 unit_bearing:0.156066 0.157690 0.975078 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.413]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.413]  If point is visible? -0.205039, -0.063505, 2.708530 mu:-0.839226 unit_bearing:-0.170182 0.172813 0.970141 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.413]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.413]  If point is visible? 0.166503, -0.060361, 2.714074 mu:-0.839226 unit_bearing:0.141625 0.170762 0.975081 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.413]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.413]  If point is visible? -0.201603, -0.066067, 2.708977 mu:-0.839226 unit_bearing:-0.167299 0.174993 0.970252 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.413]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.413]  If point is visible? 0.159553, -0.083862, 2.713611 mu:-0.839226 unit_bearing:0.135792 0.190290 0.972291 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.413]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.413]  If point is visible? 0.159563, -0.081239, 2.713793 mu:-0.839226 unit_bearing:0.135801 0.188124 0.972711 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.413]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.413]  If point is visible? 0.149239, -0.088979, 2.714607 mu:-0.839226 unit_bearing:0.127137 0.194654 0.972598 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.413]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.413]  If point is visible? 0.152671, -0.089021, 2.714157 mu:-0.839226 unit_bearing:0.130017 0.194643 0.972219 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.413]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.413]  If point is visible? 0.156102, -0.089064, 2.713698 mu:-0.839226 unit_bearing:0.132896 0.194632 0.971832 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.413]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.413]  If point is visible? 0.090819, -0.091034, 2.720497 mu:-0.839226 unit_bearing:0.078109 0.196968 0.977293 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.413]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.413]  calculated Z=  0.887684 tau: 0.008124 tau_inv: 0.010310
[19:36:15.413]  seeds updated
[19:36:15.413]  If point is visible? 0.152651, -0.094268, 2.713752 mu:-0.839226 unit_bearing:0.130000 0.198973 0.971344 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.413]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.413]  If point is visible? 0.152661, -0.091645, 2.713958 mu:-0.839226 unit_bearing:0.130008 0.196808 0.971784 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.413]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.413]  If point is visible? 0.114847, -0.104363, 2.717261 mu:-0.839226 unit_bearing:0.098274 0.207740 0.973235 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.413]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.413]  If point is visible? 0.118283, -0.104395, 2.716912 mu:-0.839226 unit_bearing:0.101157 0.207731 0.972941 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.413]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.413]  If point is visible? 0.128586, -0.104497, 2.715806 mu:-0.839226 unit_bearing:0.109804 0.207702 0.972010 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.413]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.413]  If point is visible? -0.591076, -0.127949, 2.564048 mu:-0.839226 unit_bearing:-0.494155 0.211717 0.843201 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.413]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.413]  If point is visible? -0.571875, -0.127057, 2.574920 mu:-0.839226 unit_bearing:-0.478041 0.212086 0.852348 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.413]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.413]  If point is visible? -0.591019, -0.130518, 2.563757 mu:-0.839226 unit_bearing:-0.494107 0.213826 0.842696 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.413]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.413]  If point is visible? -0.552503, -0.128770, 2.585100 mu:-0.839226 unit_bearing:-0.461784 0.214553 0.860652 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.413]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.413]  If point is visible? -0.510227, -0.129587, 2.606112 mu:-0.839226 unit_bearing:-0.426304 0.217383 0.878071 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.413]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.413]  If point is visible? 0.469940, -0.123025, 2.623138 mu:-0.839226 unit_bearing:0.396277 0.213658 0.892925 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.413]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.414]  If point is visible? -0.510180, -0.132173, 2.605818 mu:-0.839226 unit_bearing:-0.426265 0.219507 0.877562 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.414]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.414]  If point is visible? -0.791794, -0.149391, 2.415918 mu:-0.839226 unit_bearing:-0.662603 0.214427 0.717620 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.414]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.414]  calculated Z=  0.877722 tau: 0.003499 tau_inv: 0.004542
[19:36:15.414]  seeds updated
[19:36:15.414]  If point is visible? -0.552451, -0.131347, 2.584808 mu:-0.839226 unit_bearing:-0.461740 0.216670 0.860145 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.414]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.414]  If point is visible? -0.788821, -0.151703, 2.418183 mu:-0.839226 unit_bearing:-0.660107 0.216585 0.719270 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.414]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.414]  If point is visible? 0.766656, -0.163143, 2.431607 mu:-0.839226 unit_bearing:0.645289 0.227487 0.729282 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.414]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.414]  If point is visible? 0.651690, -0.174627, 2.516725 mu:-0.839226 unit_bearing:0.548807 0.245758 0.799008 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.414]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.414]  If point is visible? 0.691764, -0.171550, 2.489345 mu:-0.839226 unit_bearing:0.582438 0.240394 0.776516 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.414]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.414]  If point is visible? 0.694802, -0.171709, 2.487097 mu:-0.839226 unit_bearing:0.584987 0.240297 0.774627 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.414]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.414]  If point is visible? 0.713015, -0.170147, 2.473760 mu:-0.839226 unit_bearing:0.600272 0.237632 0.763678 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.414]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.414]  If point is visible? 0.716019, -0.170311, 2.471432 mu:-0.839226 unit_bearing:0.602793 0.237530 0.761722 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.414]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.414]  If point is visible? 0.617134, -0.180689, 2.537834 mu:-0.839226 unit_bearing:0.519806 0.252966 0.815972 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.414]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.414]  If point is visible? 0.620273, -0.180830, 2.535861 mu:-0.839226 unit_bearing:0.522441 0.252882 0.814313 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.414]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.414]  If point is visible? 0.664131, -0.172687, 2.508661 mu:-0.839226 unit_bearing:0.559247 0.243317 0.792489 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.414]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.414]  If point is visible? 0.667210, -0.172840, 2.506517 mu:-0.839226 unit_bearing:0.561831 0.243225 0.790688 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.414]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.414]  If point is visible? 0.563125, -0.180955, 2.569232 mu:-0.839226 unit_bearing:0.474480 0.256399 0.842097 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.414]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.414]  If point is visible? 0.550224, -0.183016, 2.575826 mu:-0.839226 unit_bearing:0.463654 0.258790 0.847380 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.414]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.414]  If point is visible? -0.077665, -0.188171, 2.710260 mu:-0.839226 unit_bearing:-0.063287 0.276834 0.958832 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.414]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.415]  If point is visible? -0.074233, -0.188154, 2.710478 mu:-0.839226 unit_bearing:-0.060407 0.276841 0.959015 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.415]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.415]  If point is visible? 0.008168, -0.187979, 2.712663 mu:-0.839226 unit_bearing:0.008746 0.276919 0.960853 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.415]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.415]  If point is visible? 0.582138, -0.186877, 2.557532 mu:-0.839226 unit_bearing:0.490437 0.260136 0.831746 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.415]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.415]  If point is visible? 0.579025, -0.184179, 2.559795 mu:-0.839226 unit_bearing:0.487825 0.258119 0.833908 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.415]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.415]  If point is visible? 0.210160, -0.200023, 2.691357 mu:-0.839226 unit_bearing:0.178263 0.284773 0.941874 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.415]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.415]  If point is visible? 0.210182, -0.197400, 2.691804 mu:-0.839226 unit_bearing:0.178281 0.282634 0.942515 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.415]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.415]  If point is visible? 0.008169, -0.185349, 2.713080 mu:-0.839226 unit_bearing:0.008747 0.274771 0.961470 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.415]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.415]  If point is visible? 0.481888, -0.188271, 2.608441 mu:-0.839226 unit_bearing:0.406304 0.266503 0.874010 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.415]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.415]  If point is visible? 0.086970, -0.230300, 2.701753 mu:-0.839226 unit_bearing:0.074879 0.311056 0.947437 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.415]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.415]  If point is visible? 0.090394, -0.230320, 2.701482 mu:-0.839226 unit_bearing:0.077753 0.311045 0.947210 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.415]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.415]  If point is visible? -0.565477, -0.247728, 2.556477 mu:-0.839226 unit_bearing:-0.472671 0.310715 0.824644 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.415]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.415]  If point is visible? -0.481706, -0.239900, 2.600210 mu:-0.839226 unit_bearing:-0.402369 0.308667 0.861873 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.415]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.415]  If point is visible? 0.069814, -0.240720, 2.700835 mu:-0.839226 unit_bearing:0.060481 0.319641 0.945606 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.415]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.415]  If point is visible? 0.344809, -0.246913, 2.648904 mu:-0.839226 unit_bearing:0.291264 0.319489 0.901716 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.415]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.415]  If point is visible? -0.254534, -0.263472, 2.670422 mu:-0.839226 unit_bearing:-0.211720 0.335483 0.917947 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.415]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.415]  If point is visible? 0.450265, -0.277951, 2.602742 mu:-0.839226 unit_bearing:0.379765 0.340621 0.860090 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.415]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.415]  If point is visible? 0.450197, -0.280535, 2.602094 mu:-0.839226 unit_bearing:0.379708 0.342707 0.859287 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.415]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.415]  If point is visible? 0.337614, -0.275422, 2.644425 mu:-0.839226 unit_bearing:0.285226 0.342778 0.895070 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.415]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.415]  If point is visible? 0.556318, -0.296275, 2.546040 mu:-0.839226 unit_bearing:0.468768 0.350085 0.810985 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.415]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.415]  If point is visible? -0.489325, -0.314902, 2.576944 mu:-0.839226 unit_bearing:-0.408763 0.368762 0.834822 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.416]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.416]  If point is visible? -0.026011, -0.334963, 2.679334 mu:-0.839226 unit_bearing:-0.019938 0.395944 0.918058 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.416]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.416]  If point is visible? 0.753531, -0.384046, 2.373402 mu:-0.839226 unit_bearing:0.634274 0.405539 0.658205 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.416]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.416]  If point is visible? -0.008928, -0.402711, 2.657496 mu:-0.839226 unit_bearing:-0.005601 0.450143 0.892939 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.416]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.416]  If point is visible? -0.008927, -0.405307, 2.656561 mu:-0.839226 unit_bearing:-0.005600 0.452209 0.891894 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.416]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.416]  If point is visible? -0.641540, 0.580736, 2.356975 mu:-0.839226 unit_bearing:-0.536506 -0.399775 0.743196 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.416]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.416]  If point is visible? -0.629417, 0.664046, 2.301273 mu:-0.839226 unit_bearing:-0.526332 -0.474868 0.705319 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.416]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.416]  If point is visible? -0.616238, 0.597513, 2.364217 mu:-0.839226 unit_bearing:-0.515272 -0.413010 0.750945 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.416]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.416]  If point is visible? -0.629771, 0.659813, 2.304638 mu:-0.839226 unit_bearing:-0.526629 -0.470997 0.707689 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.416]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.416]  If point is visible? -0.641254, 0.585168, 2.354046 mu:-0.839226 unit_bearing:-0.536265 -0.403767 0.741210 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.416]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.416]  If point is visible? -0.635164, 0.586053, 2.358136 mu:-0.839226 unit_bearing:-0.531155 -0.404086 0.744708 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.416]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.416]  If point is visible? 0.265255, 0.398633, 2.626643 mu:-0.839226 unit_bearing:0.224500 -0.220509 0.949197 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.416]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.416]  If point is visible? 0.272052, 0.398381, 2.625046 mu:-0.839226 unit_bearing:0.230205 -0.220462 0.947841 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.416]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.416]  If point is visible? 0.278846, 0.398122, 2.623407 mu:-0.839226 unit_bearing:0.235906 -0.220414 0.946449 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.416]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.417]  If point is visible? 0.114892, 0.372632, 2.661788 mu:-0.839226 unit_bearing:0.098312 -0.195256 0.975812 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.417]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.417]  If point is visible? 0.101166, 0.362818, 2.666329 mu:-0.839226 unit_bearing:0.086793 -0.186617 0.978591 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.417]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.417]  If point is visible? 0.155991, 0.396812, 2.648418 mu:-0.839226 unit_bearing:0.132803 -0.216765 0.967149 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.417]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.417]  If point is visible? 0.265296, 0.393682, 2.628430 mu:-0.839226 unit_bearing:0.224534 -0.216202 0.950179 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.417]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.417]  If point is visible? 0.292718, 0.362854, 2.632039 mu:-0.839226 unit_bearing:0.247548 -0.190154 0.950033 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.417]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.417]  If point is visible? 0.299504, 0.362584, 2.630279 mu:-0.839226 unit_bearing:0.253243 -0.190109 0.948539 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.417]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.417]  If point is visible? 0.156014, 0.391839, 2.650176 mu:-0.839226 unit_bearing:0.132822 -0.212443 0.968104 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.417]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.417]  If point is visible? -0.146760, 0.337082, 2.669786 mu:-0.839226 unit_bearing:-0.121274 -0.164826 0.978839 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.417]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.417]  If point is visible? 0.698114, 0.279557, 2.458651 mu:-0.839226 unit_bearing:0.587767 -0.138504 0.797087 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.417]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.417]  If point is visible? -0.002134, 0.292880, 2.691076 mu:-0.839226 unit_bearing:0.000101 -0.125830 0.992052 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.417]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.417]  If point is visible? -0.545265, 0.133370, 2.588292 mu:-0.839226 unit_bearing:-0.455709 -0.003475 0.890122 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.417]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.417]  If point is visible? -0.545264, 0.123203, 2.589531 mu:-0.839226 unit_bearing:-0.455708 0.005121 0.890114 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.417]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.417]  If point is visible? 0.461962, 0.148081, 2.623450 mu:-0.839226 unit_bearing:0.389582 -0.012133 0.920912 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.417]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.417]  If point is visible? -0.036669, 0.118273, 2.721246 mu:-0.839226 unit_bearing:-0.028883 0.022699 0.999325 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.417]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.417]  If point is visible? -0.043575, 0.113060, 2.721535 mu:-0.839226 unit_bearing:-0.034678 0.027070 0.999032 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.417]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.417]  If point is visible? -0.119377, 0.008323, 2.721831 mu:-0.839226 unit_bearing:-0.098293 0.114343 0.988567 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.417]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.417]  If point is visible? -0.119320, -0.023065, 2.721641 mu:-0.839226 unit_bearing:-0.098245 0.140469 0.985199 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.417]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.417]  If point is visible? 0.163107, -0.049834, 2.715048 mu:-0.839226 unit_bearing:0.138775 0.162092 0.976969 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.417]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.417]  If point is visible? -0.105430, -0.080612, 2.720415 mu:-0.839226 unit_bearing:-0.086588 0.188279 0.978291 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.417]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.417]  If point is visible? 0.156151, -0.075950, 2.714610 mu:-0.839226 unit_bearing:0.132938 0.183802 0.973932 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.417]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.418]  If point is visible? -0.794956, -0.142086, 2.414283 mu:-0.839226 unit_bearing:-0.665257 0.208175 0.717006 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.418]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.418]  If point is visible? -0.789209, -0.141702, 2.419499 mu:-0.839226 unit_bearing:-0.660434 0.208388 0.721389 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.418]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.418]  If point is visible? 0.563125, -0.180955, 2.569232 mu:-0.839226 unit_bearing:0.474480 0.256399 0.842097 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.418]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.418]  If point is visible? -0.783248, -0.146326, 2.424023 mu:-0.839226 unit_bearing:-0.655431 0.212703 0.724685 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.418]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.418]  If point is visible? -0.792818, -0.192003, 2.406684 mu:-0.839226 unit_bearing:-0.663462 0.248977 0.705570 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.418]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.418]  If point is visible? -0.787101, -0.191673, 2.411913 mu:-0.839226 unit_bearing:-0.658664 0.249237 0.709960 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.418]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.418]  If point is visible? -0.070808, -0.185508, 2.711103 mu:-0.839226 unit_bearing:-0.057533 0.274701 0.959807 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.418]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.418]  If point is visible? -0.063944, -0.185477, 2.711489 mu:-0.839226 unit_bearing:-0.051772 0.274715 0.960131 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.418]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.418]  If point is visible? -0.002134, -0.185345, 2.713127 mu:-0.839226 unit_bearing:0.000100 0.274773 0.961509 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.418]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.418]  If point is visible? 0.004735, -0.185346, 2.713106 mu:-0.839226 unit_bearing:0.005865 0.274772 0.961492 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.418]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.418]  If point is visible? -0.063955, -0.180218, 2.712306 mu:-0.839226 unit_bearing:-0.051782 0.270418 0.961349 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.418]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.418]  If point is visible? -0.002134, -0.180084, 2.713943 mu:-0.839226 unit_bearing:0.000100 0.270475 0.962727 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.418]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.418]  If point is visible? 0.766556, -0.165650, 2.431233 mu:-0.839226 unit_bearing:0.645205 0.229536 0.728714 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.418]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.418]  If point is visible? 0.210094, -0.207890, 2.689980 mu:-0.839226 unit_bearing:0.178208 0.291185 0.939922 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.418]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.418]  If point is visible? -0.070667, -0.238077, 2.701598 mu:-0.839226 unit_bearing:-0.057414 0.317518 0.946513 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.418]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.418]  If point is visible? 0.210138, -0.202645, 2.690904 mu:-0.839226 unit_bearing:0.178245 0.286911 0.941228 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.418]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.418]  If point is visible? 0.210003, -0.218377, 2.688058 mu:-0.839226 unit_bearing:0.178132 0.299724 0.937249 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.418]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.418]  If point is visible? 0.080094, -0.238143, 2.700683 mu:-0.839226 unit_bearing:0.069109 0.317479 0.945744 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.418]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.418]  If point is visible? 0.569249, -0.191495, 2.563949 mu:-0.839226 unit_bearing:0.479620 0.264638 0.836619 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.418]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.418]  If point is visible? -0.145853, -0.249075, 2.692425 mu:-0.839226 unit_bearing:-0.120512 0.325741 0.937747 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.419]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.419]  If point is visible? -0.698753, -0.313154, 2.450754 mu:-0.839226 unit_bearing:-0.584520 0.354399 0.729889 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.419]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.419]  If point is visible? 0.553235, -0.293627, 2.548511 mu:-0.839226 unit_bearing:0.466181 0.348132 0.813314 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.419]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.419]  If point is visible? 0.514330, -0.307935, 2.564728 mu:-0.839226 unit_bearing:0.433531 0.361709 0.825359 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.419]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.419]  If point is visible? 0.086262, -0.379476, 2.662116 mu:-0.839226 unit_bearing:0.074285 0.431261 0.899164 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.419]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.419]  If point is visible? 0.753531, -0.384046, 2.373402 mu:-0.839226 unit_bearing:0.634274 0.405539 0.658205 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.419]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.419]  If point is visible? -0.682683, 0.494327, 2.380157 mu:-0.839226 unit_bearing:-0.571034 -0.325429 0.753669 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.419]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.419]  If point is visible? 0.128547, 0.397337, 2.651790 mu:-0.839226 unit_bearing:0.109772 -0.216858 0.970012 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.419]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.419]  If point is visible? 0.101154, 0.367825, 2.664711 mu:-0.839226 unit_bearing:0.086782 -0.190953 0.977755 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.419]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.419]  If point is visible? 0.114877, 0.377628, 2.660123 mu:-0.839226 unit_bearing:0.098299 -0.199588 0.974937 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.419]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.419]  If point is visible? -0.613582, 0.636913, 2.336349 mu:-0.839226 unit_bearing:-0.513042 -0.448679 0.731761 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.419]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.419]  If point is visible? 0.128584, 0.387383, 2.655281 mu:-0.839226 unit_bearing:0.109802 -0.208209 0.971902 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.419]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.419]  If point is visible? 0.661306, 0.268762, 2.488581 mu:-0.839226 unit_bearing:0.556877 -0.126450 0.820913 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.419]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.419]  If point is visible? -0.009035, 0.287802, 2.692332 mu:-0.839226 unit_bearing:-0.005691 -0.121471 0.992579 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.419]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.419]  If point is visible? 0.661461, 0.258930, 2.491193 mu:-0.839226 unit_bearing:0.557007 -0.117993 0.822084 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.419]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.419]  If point is visible? 0.560173, 0.217866, 2.563704 mu:-0.839226 unit_bearing:0.472003 -0.076372 0.878283 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.419]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.420]  If point is visible? 0.441988, 0.154207, 2.630916 mu:-0.839226 unit_bearing:0.372819 -0.016472 0.927758 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.420]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.420]  If point is visible? 0.455309, 0.153529, 2.625512 mu:-0.839226 unit_bearing:0.383999 -0.016460 0.923187 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.420]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.420]  If point is visible? -0.105531, -0.033410, 2.722676 mu:-0.839226 unit_bearing:-0.086673 0.149192 0.985002 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.420]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.420]  If point is visible? -0.022824, -0.032973, 2.726996 mu:-0.839226 unit_bearing:-0.017263 0.149270 0.988646 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.420]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.420]  If point is visible? -0.105614, 0.018911, 2.722988 mu:-0.839226 unit_bearing:-0.086743 0.105642 0.990614 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.420]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.420]  If point is visible? -0.022841, 0.019374, 2.727295 mu:-0.839226 unit_bearing:-0.017277 0.105697 0.994248 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.420]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.420]  If point is visible? -0.009036, 0.019391, 2.727453 mu:-0.839226 unit_bearing:-0.005692 0.105699 0.994382 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.420]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.420]  If point is visible? -0.795334, -0.132092, 2.415502 mu:-0.839226 unit_bearing:-0.665574 0.199975 0.719042 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.420]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.420]  If point is visible? -0.783805, -0.131304, 2.425880 mu:-0.839226 unit_bearing:-0.655898 0.200380 0.727768 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.420]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.420]  If point is visible? -0.772178, -0.130526, 2.436072 mu:-0.839226 unit_bearing:-0.646140 0.200774 0.736337 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.420]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.420]  If point is visible? -0.510453, -0.116657, 2.607492 mu:-0.839226 unit_bearing:-0.426494 0.206754 0.880543 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.420]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.420]  If point is visible? 0.156257, -0.044502, 2.716201 mu:-0.839226 unit_bearing:0.133027 0.157769 0.978475 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.420]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.420]  If point is visible? 0.694259, -0.186909, 2.484626 mu:-0.839226 unit_bearing:0.584532 0.252705 0.771014 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.420]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.420]  If point is visible? 0.087412, -0.075257, 2.721866 mu:-0.839226 unit_bearing:0.075250 0.183967 0.980048 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.420]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.420]  If point is visible? 0.101174, -0.075365, 2.720738 mu:-0.839226 unit_bearing:0.086799 0.183941 0.979097 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.420]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.420]  If point is visible? 0.114930, -0.075488, 2.719449 mu:-0.839226 unit_bearing:0.098343 0.183912 0.978011 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.420]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.420]  If point is visible? 0.128679, -0.075627, 2.717998 mu:-0.839226 unit_bearing:0.109882 0.183879 0.976788 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.420]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.420]  If point is visible? -0.783438, -0.141319, 2.424667 mu:-0.839226 unit_bearing:-0.655590 0.208598 0.725733 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.420]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.420]  If point is visible? -0.771821, -0.140561, 2.434865 mu:-0.839226 unit_bearing:-0.645841 0.209010 0.734305 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.420]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.420]  If point is visible? 0.101149, -0.085864, 2.720026 mu:-0.839226 unit_bearing:0.086778 0.192614 0.977430 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.420]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.420]  If point is visible? 0.114901, -0.085985, 2.718735 mu:-0.839226 unit_bearing:0.098319 0.192583 0.976343 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.420]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.421]  If point is visible? 0.128646, -0.086122, 2.717283 mu:-0.839226 unit_bearing:0.109855 0.192548 0.975119 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.421]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.421]  If point is visible? -0.022753, -0.169579, 2.715324 mu:-0.839226 unit_bearing:-0.017203 0.261865 0.964951 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.421]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.421]  If point is visible? -0.296320, -0.162170, 2.679330 mu:-0.839226 unit_bearing:-0.246788 0.252012 0.935727 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.421]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.421]  If point is visible? -0.769349, -0.200702, 2.425512 mu:-0.839226 unit_bearing:-0.643767 0.258149 0.720364 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.421]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.421]  If point is visible? 0.210138, -0.202645, 2.690904 mu:-0.839226 unit_bearing:0.178245 0.286911 0.941228 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.421]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.421]  If point is visible? -0.022745, -0.180099, 2.713763 mu:-0.839226 unit_bearing:-0.017197 0.270468 0.962575 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.421]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.421]  If point is visible? 0.619884, -0.193611, 2.533708 mu:-0.839226 unit_bearing:0.522114 0.263308 0.811213 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.421]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.421]  If point is visible? -0.570594, -0.283775, 2.544178 mu:-0.839226 unit_bearing:-0.476966 0.339482 0.810713 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.421]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.421]  If point is visible? 0.412420, -0.196498, 2.635730 mu:-0.839226 unit_bearing:0.348005 0.276147 0.895899 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.421]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.421]  If point is visible? 0.619559, -0.203831, 2.531873 mu:-0.839226 unit_bearing:0.521841 0.271634 0.808639 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.421]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.421]  If point is visible? -0.296209, -0.172636, 2.677825 mu:-0.839226 unit_bearing:-0.246695 0.260576 0.933403 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.421]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.421]  If point is visible? 0.731052, -0.168616, 2.460005 mu:-0.839226 unit_bearing:0.615409 0.234950 0.752376 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.421]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.421]  If point is visible? 0.754676, -0.169973, 2.440498 mu:-0.839226 unit_bearing:0.635235 0.234085 0.735989 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.421]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.421]  If point is visible? -0.544778, -0.293255, 2.555624 mu:-0.839226 unit_bearing:-0.455300 0.348550 0.819277 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.421]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.421]  If point is visible? 0.318429, -0.215038, 2.663341 mu:-0.839226 unit_bearing:0.269125 0.294414 0.917002 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.421]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.421]  If point is visible? 0.086262, -0.379476, 2.662116 mu:-0.839226 unit_bearing:0.074285 0.431261 0.899164 T_cur_ref: x=-0.002254 y=0.000000 z=1.536056
[19:36:15.421]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.421]  If point is visible? -0.163105, 0.716435, 1.472953 mu:-0.839226 unit_bearing:-0.147040 -0.500741 0.853017 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.421]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.421]  If point is visible? -0.264849, 0.635469, 1.507941 mu:-0.839226 unit_bearing:-0.232764 -0.429720 0.872446 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.421]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.421]  If point is visible? -0.268364, 0.623805, 1.514516 mu:-0.839226 unit_bearing:-0.235785 -0.419332 0.876679 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.422]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.422]  If point is visible? -0.282603, 0.560145, 1.548436 mu:-0.839226 unit_bearing:-0.248098 -0.362835 0.898219 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.422]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.422]  If point is visible? -0.289759, 0.521817, 1.566728 mu:-0.839226 unit_bearing:-0.254292 -0.329039 0.909433 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.422]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.422]  If point is visible? 0.242222, 0.531042, 1.571700 mu:-0.839226 unit_bearing:0.192012 -0.336214 0.922004 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.422]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.422]  If point is visible? 0.296277, 0.521555, 1.562183 mu:-0.839226 unit_bearing:0.237519 -0.329285 0.913869 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.422]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.422]  If point is visible? 0.316459, 0.518175, 1.557771 mu:-0.839226 unit_bearing:0.254521 -0.326922 0.910133 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.422]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.422]  calculated Z=  0.724885 tau: 0.001711 tau_inv: 0.003256
[19:36:15.422]  seeds updated
[19:36:15.422]  If point is visible? 0.279414, 0.524720, 1.565370 mu:-0.839226 unit_bearing:0.223319 -0.331596 0.916610 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.422]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.422]  If point is visible? 0.282779, 0.524569, 1.564513 mu:-0.839226 unit_bearing:0.226155 -0.331558 0.915928 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.422]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.422]  If point is visible? 0.813699, 0.471661, 1.260105 mu:-0.839226 unit_bearing:0.675997 -0.318620 0.664461 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.422]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.422]  If point is visible? 0.323424, 0.505853, 1.561716 mu:-0.839226 unit_bearing:0.260332 -0.316254 0.912256 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.422]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.422]  If point is visible? 0.229144, 0.505096, 1.587565 mu:-0.839226 unit_bearing:0.180861 -0.312980 0.932380 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.422]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.422]  If point is visible? 0.283300, 0.498143, 1.577401 mu:-0.839226 unit_bearing:0.226457 -0.308227 0.923966 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.422]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.422]  If point is visible? 0.286669, 0.497995, 1.576535 mu:-0.839226 unit_bearing:0.229297 -0.308192 0.923277 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.422]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.422]  If point is visible? 0.283345, 0.495730, 1.578537 mu:-0.839226 unit_bearing:0.226483 -0.306102 0.924666 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.422]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.422]  If point is visible? 0.286714, 0.495582, 1.577671 mu:-0.839226 unit_bearing:0.229323 -0.306067 0.923977 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.422]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.422]  If point is visible? -0.293304, 0.504888, 1.574133 mu:-0.839226 unit_bearing:-0.257341 -0.314180 0.913820 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.422]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.422]  If point is visible? 0.774386, 0.445635, 1.317536 mu:-0.839226 unit_bearing:0.642252 -0.291068 0.709078 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.422]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.422]  If point is visible? 0.283390, 0.493316, 1.579667 mu:-0.839226 unit_bearing:0.226509 -0.303975 0.925361 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.422]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.422]  If point is visible? 0.286759, 0.493168, 1.578801 mu:-0.839226 unit_bearing:0.229349 -0.303940 0.924672 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.422]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.422]  If point is visible? 0.758193, 0.432433, 1.340537 mu:-0.839226 unit_bearing:0.628365 -0.277718 0.726656 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.422]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.422]  If point is visible? 0.761073, 0.431967, 1.338051 mu:-0.839226 unit_bearing:0.630818 -0.277585 0.724580 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.422]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.422]  If point is visible? 0.744335, 0.423135, 1.358268 mu:-0.839226 unit_bearing:0.616505 -0.268160 0.740278 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.422]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.422]  If point is visible? 0.747249, 0.422689, 1.355839 mu:-0.839226 unit_bearing:0.618985 -0.268037 0.738251 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.422]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.422]  If point is visible? 0.161608, 0.470641, 1.615980 mu:-0.839226 unit_bearing:0.123853 -0.281373 0.951572 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.422]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.422]  If point is visible? 0.165021, 0.470560, 1.615484 mu:-0.839226 unit_bearing:0.126724 -0.281357 0.951199 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.422]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.422]  If point is visible? 0.168433, 0.470478, 1.614978 mu:-0.839226 unit_bearing:0.129594 -0.281340 0.950817 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.423]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.423]  If point is visible? 0.736036, 0.415140, 1.369756 mu:-0.839226 unit_bearing:0.609395 -0.260325 0.748912 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.423]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.423]  If point is visible? 0.738852, 0.417037, 1.366303 mu:-0.839226 unit_bearing:0.611802 -0.262259 0.746269 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.423]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.423]  If point is visible? 0.741659, 0.418928, 1.362832 mu:-0.839226 unit_bearing:0.614203 -0.264189 0.743612 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.423]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.423]  If point is visible? 0.137867, 0.454010, 1.626431 mu:-0.839226 unit_bearing:0.103814 -0.266452 0.958241 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.423]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.423]  If point is visible? 0.141287, 0.453943, 1.626006 mu:-0.839226 unit_bearing:0.106690 -0.266439 0.957929 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.423]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.423]  If point is visible? 0.351396, 0.446419, 1.579775 mu:-0.839226 unit_bearing:0.283653 -0.264900 0.921612 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.423]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.423]  If point is visible? 0.148101, 0.456256, 1.624106 mu:-0.839226 unit_bearing:0.112430 -0.268560 0.956679 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.423]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.423]  If point is visible? 0.718761, 0.408313, 1.388058 mu:-0.839226 unit_bearing:0.594655 -0.252767 0.763213 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.423]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.423]  If point is visible? 0.721730, 0.407899, 1.385731 mu:-0.839226 unit_bearing:0.597180 -0.252660 0.761275 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.423]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.423]  If point is visible? 0.351350, 0.448854, 1.578748 mu:-0.839226 unit_bearing:0.283624 -0.267033 0.921005 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.423]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.423]  If point is visible? 0.090153, 0.422726, 1.644040 mu:-0.839226 unit_bearing:0.063585 -0.238592 0.969036 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.423]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.423]  If point is visible? 0.680997, 0.380239, 1.431101 mu:-0.839226 unit_bearing:0.562414 -0.224980 0.795660 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.423]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.423]  If point is visible? 0.672007, 0.376550, 1.439448 mu:-0.839226 unit_bearing:0.554760 -0.221054 0.802107 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.423]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.423]  If point is visible? 0.675066, 0.376190, 1.437303 mu:-0.839226 unit_bearing:0.557357 -0.220973 0.800327 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.423]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.423]  If point is visible? -0.023264, 0.418296, 1.649629 mu:-0.839226 unit_bearing:-0.031654 -0.234330 0.971642 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.423]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.423]  If point is visible? 0.678035, 0.378217, 1.434211 mu:-0.839226 unit_bearing:0.559888 -0.222978 0.798001 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.423]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.423]  If point is visible? 0.644879, 0.360434, 1.465509 mu:-0.839226 unit_bearing:0.531661 -0.204964 0.821783 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.423]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.423]  If point is visible? 0.647982, 0.360101, 1.463466 mu:-0.839226 unit_bearing:0.534293 -0.204895 0.820091 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.423]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.423]  If point is visible? -0.318032, 0.374373, 1.621090 mu:-0.839226 unit_bearing:-0.278523 -0.200663 0.939233 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.423]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.423]  If point is visible? 0.031908, 0.388423, 1.659923 mu:-0.839226 unit_bearing:0.014548 -0.208394 0.977937 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.423]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.423]  If point is visible? -0.318047, 0.371893, 1.621937 mu:-0.839226 unit_bearing:-0.278543 -0.198510 0.939685 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.423]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.423]  If point is visible? 0.641913, 0.355933, 1.469296 mu:-0.839226 unit_bearing:0.529127 -0.200827 0.824435 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.423]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.423]  If point is visible? 0.642927, 0.317060, 1.482488 mu:-0.839226 unit_bearing:0.529860 -0.167098 0.831461 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.423]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.423]  If point is visible? 0.193546, 0.338511, 1.659139 mu:-0.839226 unit_bearing:0.150276 -0.166899 0.974455 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.423]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.423]  If point is visible? 0.193528, 0.341022, 1.658383 mu:-0.839226 unit_bearing:0.150268 -0.169068 0.974082 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.423]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.424]  If point is visible? -0.246652, 0.327097, 1.654058 mu:-0.839226 unit_bearing:-0.219007 -0.157911 0.962860 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.424]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.424]  If point is visible? -0.160850, 0.346847, 1.663306 mu:-0.839226 unit_bearing:-0.147173 -0.173417 0.973790 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.424]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.424]  If point is visible? -0.246659, 0.324585, 1.654786 mu:-0.839226 unit_bearing:-0.219018 -0.155745 0.963211 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.424]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.424]  If point is visible? 0.649793, 0.287067, 1.487313 mu:-0.839226 unit_bearing:0.535605 -0.141621 0.832509 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.424]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.424]  If point is visible? -0.246665, 0.322073, 1.655509 mu:-0.839226 unit_bearing:-0.219030 -0.153578 0.963556 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.424]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.424]  If point is visible? 0.653095, 0.276935, 1.488036 mu:-0.839226 unit_bearing:0.538383 -0.133108 0.832122 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.424]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.424]  If point is visible? 0.653140, 0.274476, 1.488715 mu:-0.839226 unit_bearing:0.538416 -0.130990 0.832436 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.424]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.424]  If point is visible? 0.653185, 0.272016, 1.489388 mu:-0.839226 unit_bearing:0.538449 -0.128872 0.832746 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.424]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.424]  If point is visible? -0.555614, 0.275914, 1.554090 mu:-0.839226 unit_bearing:-0.476775 -0.125502 0.870020 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.424]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.424]  If point is visible? -0.699001, 0.238450, 1.472816 mu:-0.839226 unit_bearing:-0.595893 -0.102607 0.796482 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.424]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.424]  calculated Z=  0.975837 tau: 0.004047 tau_inv: 0.004250
[19:36:15.424]  seeds updated
[19:36:15.424]  If point is visible? 0.659851, 0.244285, 1.492262 mu:-0.839226 unit_bearing:0.544049 -0.105479 0.832397 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.424]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.424]  If point is visible? 0.659813, 0.246756, 1.491655 mu:-0.839226 unit_bearing:0.544022 -0.107599 0.832144 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.424]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.424]  If point is visible? -0.243361, 0.266628, 1.670667 mu:-0.839226 unit_bearing:-0.216374 -0.105844 0.970556 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.424]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.424]  If point is visible? -0.680464, 0.232950, 1.487602 mu:-0.839226 unit_bearing:-0.580536 -0.096514 0.808495 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.424]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.424]  calculated Z=  0.971974 tau: 0.003987 tau_inv: 0.004220
[19:36:15.424]  seeds updated
[19:36:15.424]  If point is visible? 0.176859, 0.252864, 1.684189 mu:-0.839226 unit_bearing:0.136071 -0.092995 0.986325 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.424]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.424]  If point is visible? 0.663097, 0.234094, 1.492548 mu:-0.839226 unit_bearing:0.546786 -0.096961 0.831639 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.424]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.424]  If point is visible? 0.176868, 0.250316, 1.684745 mu:-0.839226 unit_bearing:0.136075 -0.090816 0.986527 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.424]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.424]  If point is visible? -0.708745, 0.190726, 1.476463 mu:-0.839226 unit_bearing:-0.604038 -0.062482 0.794502 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.424]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.424]  If point is visible? 0.672721, 0.205937, 1.492255 mu:-0.839226 unit_bearing:0.554914 -0.073537 0.828651 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.424]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.424]  If point is visible? -0.702612, 0.186386, 1.481876 mu:-0.839226 unit_bearing:-0.598960 -0.058313 0.798653 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.424]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.424]  If point is visible? -0.624006, 0.193374, 1.533660 mu:-0.839226 unit_bearing:-0.533736 -0.058837 0.843602 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.424]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.424]  If point is visible? -0.705718, 0.183611, 1.480125 mu:-0.839226 unit_bearing:-0.601537 -0.056180 0.796867 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.424]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.424]  If point is visible? -0.702630, 0.183910, 1.482347 mu:-0.839226 unit_bearing:-0.598977 -0.056203 0.798791 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.424]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.424]  If point is visible? 0.682308, 0.165232, 1.493310 mu:-0.839226 unit_bearing:0.563014 -0.039523 0.825502 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.424]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.424]  If point is visible? 0.682335, 0.160238, 1.494137 mu:-0.839226 unit_bearing:0.563033 -0.035279 0.825681 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.424]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.424]  If point is visible? 0.685438, 0.154961, 1.492776 mu:-0.839226 unit_bearing:0.565666 -0.031023 0.824051 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.424]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.424]  If point is visible? 0.685459, 0.149962, 1.493555 mu:-0.839226 unit_bearing:0.565681 -0.026779 0.824189 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.424]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.425]  If point is visible? 0.685449, 0.152462, 1.493169 mu:-0.839226 unit_bearing:0.565674 -0.028901 0.824123 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.425]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.425]  If point is visible? -0.098845, 0.151525, 1.712204 mu:-0.839226 unit_bearing:-0.095492 -0.005718 0.995414 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.425]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.425]  If point is visible? 0.688560, 0.142181, 1.492503 mu:-0.839226 unit_bearing:0.568311 -0.020405 0.822561 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.425]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.425]  If point is visible? 0.688568, 0.139679, 1.492866 mu:-0.839226 unit_bearing:0.568316 -0.018283 0.822607 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.425]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.425]  If point is visible? -0.088487, 0.159365, 1.711949 mu:-0.839226 unit_bearing:-0.086810 -0.012274 0.996149 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.425]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.425]  If point is visible? -0.655969, 0.130709, 1.523461 mu:-0.839226 unit_bearing:-0.560307 -0.007683 0.828249 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.425]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.425]  If point is visible? -0.757718, 0.126482, 1.449032 mu:-0.839226 unit_bearing:-0.644638 -0.011774 0.764397 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.425]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.425]  If point is visible? 0.163313, 0.153099, 1.703692 mu:-0.839226 unit_bearing:0.124603 -0.007899 0.992175 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.425]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.425]  If point is visible? -0.095392, 0.136051, 1.714361 mu:-0.839226 unit_bearing:-0.092598 0.007392 0.995676 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.425]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.425]  If point is visible? -0.699764, 0.122015, 1.494358 mu:-0.839226 unit_bearing:-0.596635 -0.003417 0.802506 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.425]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.425]  If point is visible? 0.066911, 0.138789, 1.715317 mu:-0.839226 unit_bearing:0.043574 0.005209 0.999037 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.425]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.425]  If point is visible? -0.085034, 0.125788, 1.716246 mu:-0.839226 unit_bearing:-0.083916 0.016134 0.996342 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.425]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.425]  If point is visible? -0.081581, 0.125815, 1.716471 mu:-0.839226 unit_bearing:-0.081021 0.016134 0.996582 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.425]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.425]  If point is visible? -0.702851, 0.104244, 1.494214 mu:-0.839226 unit_bearing:-0.599192 0.011371 0.800525 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.425]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.425]  If point is visible? -0.081581, 0.130993, 1.715909 mu:-0.839226 unit_bearing:-0.081022 0.011764 0.996643 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.425]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.425]  If point is visible? 0.694717, 0.101522, 1.493197 mu:-0.839226 unit_bearing:0.573537 0.013534 0.819068 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.425]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.425]  If point is visible? 0.697743, 0.088692, 1.492257 mu:-0.839226 unit_bearing:0.576112 0.024125 0.817015 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.425]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.425]  If point is visible? -0.264006, 0.083930, 1.694082 mu:-0.839226 unit_bearing:-0.233710 0.048734 0.971084 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.425]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.425]  If point is visible? 0.697734, 0.086177, 1.492493 mu:-0.839226 unit_bearing:0.576105 0.026244 0.816955 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.425]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.425]  If point is visible? -0.267422, 0.076071, 1.693856 mu:-0.839226 unit_bearing:-0.236560 0.055257 0.970044 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.425]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.425]  If point is visible? -0.243414, 0.053295, 1.700293 mu:-0.839226 unit_bearing:-0.216466 0.074887 0.973414 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.425]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.425]  If point is visible? -0.243411, 0.050697, 1.700409 mu:-0.839226 unit_bearing:-0.216460 0.077063 0.973245 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.425]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.425]  If point is visible? 0.706347, 0.019869, 1.489804 mu:-0.839226 unit_bearing:0.583483 0.081201 0.808055 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.425]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.425]  If point is visible? 0.706315, 0.017342, 1.489877 mu:-0.839226 unit_bearing:0.583460 0.083314 0.807857 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.425]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.425]  If point is visible? 0.211144, 0.040679, 1.705144 mu:-0.839226 unit_bearing:0.164911 0.085892 0.982561 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.425]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.425]  If point is visible? -0.171239, 0.031226, 1.713541 mu:-0.839226 unit_bearing:-0.156051 0.094625 0.983206 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.425]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.425]  If point is visible? -0.112660, 0.031950, 1.720305 mu:-0.839226 unit_bearing:-0.106993 0.094713 0.989738 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.425]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.425]  If point is visible? -0.109211, 0.031982, 1.720612 mu:-0.839226 unit_bearing:-0.104103 0.094718 0.990046 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.425]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.425]  If point is visible? -0.078158, 0.032228, 1.722925 mu:-0.839226 unit_bearing:-0.078078 0.094750 0.992435 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.425]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.425]  If point is visible? -0.026386, 0.024606, 1.725165 mu:-0.839226 unit_bearing:-0.034655 0.101328 0.994249 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.425]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.425]  If point is visible? -0.019482, 0.024615, 1.725269 mu:-0.839226 unit_bearing:-0.028863 0.101330 0.994434 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.425]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.425]  If point is visible? -0.026383, 0.027218, 1.725108 mu:-0.839226 unit_bearing:-0.034656 0.099146 0.994469 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.425]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.426]  If point is visible? -0.174678, 0.025960, 1.713178 mu:-0.839226 unit_bearing:-0.158922 0.098974 0.982318 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.426]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.426]  If point is visible? -0.171236, 0.026012, 1.713667 mu:-0.839226 unit_bearing:-0.156041 0.098981 0.982779 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.426]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.426]  If point is visible? 0.709142, 0.001939, 1.487922 mu:-0.839226 unit_bearing:0.585886 0.095944 0.804694 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.426]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.426]  If point is visible? -0.671041, 0.000837, 1.522062 mu:-0.839226 unit_bearing:-0.572712 0.100354 0.813591 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.426]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.426]  If point is visible? -0.174660, -0.000136, 1.713467 mu:-0.839226 unit_bearing:-0.158866 0.120740 0.979889 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.426]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.426]  If point is visible? -0.756642, -0.020630, 1.458378 mu:-0.839226 unit_bearing:-0.643614 0.111722 0.757152 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.426]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.426]  If point is visible? -0.119561, -0.009915, 1.720047 mu:-0.839226 unit_bearing:-0.112707 0.129559 0.985145 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.426]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.426]  If point is visible? -0.116114, -0.009882, 1.720375 mu:-0.839226 unit_bearing:-0.109820 0.129565 0.985471 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.426]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.426]  If point is visible? -0.098877, -0.009733, 1.721866 mu:-0.839226 unit_bearing:-0.095377 0.129593 0.986970 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.426]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.426]  If point is visible? -0.026425, -0.004155, 1.725411 mu:-0.839226 unit_bearing:-0.034641 0.125310 0.991513 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.426]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.426]  If point is visible? -0.022974, -0.004150, 1.725469 mu:-0.839226 unit_bearing:-0.031746 0.125311 0.991609 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.426]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.426]  If point is visible? -0.160894, -0.002553, 1.715363 mu:-0.839226 unit_bearing:-0.147338 0.122947 0.981415 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.426]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.426]  If point is visible? -0.026429, -0.006772, 1.725399 mu:-0.839226 unit_bearing:-0.034640 0.127488 0.991235 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.426]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.426]  If point is visible? -0.022978, -0.006767, 1.725457 mu:-0.839226 unit_bearing:-0.031745 0.127490 0.991332 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.426]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.426]  If point is visible? -0.026433, -0.009389, 1.725381 mu:-0.839226 unit_bearing:-0.034638 0.129667 0.990952 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.426]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.426]  If point is visible? -0.022982, -0.009384, 1.725439 mu:-0.839226 unit_bearing:-0.031744 0.129669 0.991049 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.426]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.426]  If point is visible? -0.260393, -0.025210, 1.697640 mu:-0.839226 unit_bearing:-0.230541 0.140007 0.962938 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.426]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.426]  If point is visible? 0.711352, -0.043846, 1.485256 mu:-0.839226 unit_bearing:0.587856 0.133809 0.797822 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.426]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.426]  If point is visible? 0.711405, -0.041313, 1.485329 mu:-0.839226 unit_bearing:0.587895 0.131706 0.798143 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.426]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.426]  If point is visible? -0.174635, -0.028886, 1.713117 mu:-0.839226 unit_bearing:-0.158791 0.144653 0.976658 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.426]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.426]  If point is visible? 0.713915, -0.064328, 1.482153 mu:-0.839226 unit_bearing:0.590085 0.150552 0.793179 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.426]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.426]  If point is visible? -0.270560, -0.054153, 1.694372 mu:-0.839226 unit_bearing:-0.238978 0.163782 0.957113 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.426]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.426]  If point is visible? -0.267119, -0.061917, 1.694766 mu:-0.839226 unit_bearing:-0.236082 0.170289 0.956696 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.426]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.426]  If point is visible? -0.270552, -0.056765, 1.694249 mu:-0.839226 unit_bearing:-0.238964 0.165945 0.956744 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.426]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.426]  If point is visible? -0.760867, -0.101363, 1.449564 mu:-0.839226 unit_bearing:-0.646897 0.178069 0.741496 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.426]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.426]  If point is visible? -0.653564, -0.110058, 1.527545 mu:-0.839226 unit_bearing:-0.557933 0.193287 0.807063 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.426]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.426]  If point is visible? -0.653510, -0.112605, 1.527294 mu:-0.839226 unit_bearing:-0.557880 0.195383 0.806595 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.426]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.426]  If point is visible? 0.714506, -0.145622, 1.472656 mu:-0.839226 unit_bearing:0.590853 0.217297 0.776965 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.426]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.426]  If point is visible? 0.821052, -0.160062, 1.377794 mu:-0.839226 unit_bearing:0.681606 0.219623 0.697982 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.426]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.426]  If point is visible? 0.714416, -0.148156, 1.472329 mu:-0.839226 unit_bearing:0.590786 0.219374 0.776432 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.426]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.426]  If point is visible? 0.812590, -0.161975, 1.385635 mu:-0.839226 unit_bearing:0.674399 0.222018 0.704197 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.426]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.426]  If point is visible? 0.713454, -0.173481, 1.468718 mu:-0.839226 unit_bearing:0.590073 0.240100 0.770821 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.426]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.426]  If point is visible? 0.713555, -0.170950, 1.469107 mu:-0.839226 unit_bearing:0.590148 0.238031 0.771406 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.426]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.426]  If point is visible? -0.825459, -0.220135, 1.369609 mu:-0.839226 unit_bearing:-0.699777 0.268825 0.661850 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.426]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.427]  If point is visible? -0.023470, -0.201115, 1.708371 mu:-0.839226 unit_bearing:-0.031586 0.287629 0.957221 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.427]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.427]  If point is visible? -0.020037, -0.201114, 1.708421 mu:-0.839226 unit_bearing:-0.028705 0.287633 0.957310 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.427]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.427]  If point is visible? -0.813765, -0.229426, 1.378464 mu:-0.839226 unit_bearing:-0.690072 0.277470 0.668440 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.427]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.427]  If point is visible? 0.743734, -0.223146, 1.433763 mu:-0.839226 unit_bearing:0.616054 0.277894 0.737056 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.427]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.427]  If point is visible? 0.656618, -0.229155, 1.498219 mu:-0.839226 unit_bearing:0.542065 0.289492 0.788898 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.427]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.427]  If point is visible? -0.761645, -0.239392, 1.422844 mu:-0.839226 unit_bearing:-0.646940 0.290310 0.705116 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.427]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.427]  calculated Z=  0.833872 tau: 0.002826 tau_inv: 0.004064
[19:36:15.427]  seeds updated
[19:36:15.427]  If point is visible? -0.357473, -0.228460, 1.649113 mu:-0.839226 unit_bearing:-0.310976 0.304346 0.900371 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.427]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.427]  If point is visible? -0.354114, -0.228388, 1.650184 mu:-0.839226 unit_bearing:-0.308172 0.304396 0.901317 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.427]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.427]  If point is visible? -0.350753, -0.228317, 1.651244 mu:-0.839226 unit_bearing:-0.305367 0.304445 0.902255 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.427]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.427]  If point is visible? 0.865180, -0.237221, 1.312769 mu:-0.839226 unit_bearing:0.719675 0.277243 0.636556 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.427]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.427]  If point is visible? 0.865005, -0.239666, 1.312215 mu:-0.839226 unit_bearing:0.719540 0.279224 0.635842 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.427]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.427]  If point is visible? 0.472147, -0.248055, 1.597373 mu:-0.839226 unit_bearing:0.385922 0.315376 0.866950 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.427]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.427]  If point is visible? -0.023645, -0.248425, 1.699278 mu:-0.839226 unit_bearing:-0.031525 0.326106 0.944807 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.427]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.427]  If point is visible? -0.551284, -0.259411, 1.560727 mu:-0.839226 unit_bearing:-0.472316 0.321087 0.820866 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.427]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.427]  calculated Z=  0.728127 tau: 0.001699 tau_inv: 0.003205
[19:36:15.427]  seeds updated
[19:36:15.427]  If point is visible? -0.532021, -0.256265, 1.571530 mu:-0.839226 unit_bearing:-0.456309 0.319571 0.830455 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.427]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.427]  If point is visible? -0.023655, -0.251051, 1.698715 mu:-0.839226 unit_bearing:-0.031521 0.328237 0.944069 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.427]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.427]  If point is visible? 0.841396, -0.272831, 1.327187 mu:-0.839226 unit_bearing:0.699577 0.308380 0.644588 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.427]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.427]  If point is visible? -0.293071, -0.263758, 1.659771 mu:-0.839226 unit_bearing:-0.257024 0.334838 0.906544 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.427]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.427]  If point is visible? -0.827492, -0.279316, 1.349685 mu:-0.839226 unit_bearing:-0.701103 0.316083 0.639176 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.427]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.427]  If point is visible? -0.830391, -0.276981, 1.347551 mu:-0.839226 unit_bearing:-0.703509 0.313920 0.637597 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.427]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.427]  If point is visible? 0.143868, -0.257117, 1.687982 mu:-0.839226 unit_bearing:0.109209 0.332192 0.936868 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.427]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.427]  If point is visible? -0.810294, -0.288479, 1.363541 mu:-0.839226 unit_bearing:-0.686849 0.325133 0.650021 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.427]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.427]  If point is visible? 0.309333, -0.275249, 1.649969 mu:-0.839226 unit_bearing:0.248615 0.343407 0.905683 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.427]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.427]  If point is visible? 0.437930, -0.298885, 1.599101 mu:-0.839226 unit_bearing:0.357273 0.357893 0.862710 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.427]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.427]  If point is visible? -0.356722, -0.285679, 1.636083 mu:-0.839226 unit_bearing:-0.310066 0.350675 0.883678 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.427]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.427]  If point is visible? 0.302576, -0.277730, 1.651237 mu:-0.839226 unit_bearing:0.242931 0.345603 0.906390 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.427]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.428]  If point is visible? -0.456138, -0.292901, 1.597288 mu:-0.839226 unit_bearing:-0.392932 0.352723 0.849230 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.428]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.428]  If point is visible? -0.452853, -0.292827, 1.598696 mu:-0.839226 unit_bearing:-0.390195 0.352805 0.850457 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.428]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.428]  If point is visible? 0.427954, -0.303816, 1.601805 mu:-0.839226 unit_bearing:0.348872 0.362277 0.864317 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.428]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.428]  If point is visible? -0.848381, -0.326262, 1.309957 mu:-0.839226 unit_bearing:-0.717996 0.351125 0.600994 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.428]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.428]  If point is visible? 0.431308, -0.301309, 1.601149 mu:-0.839226 unit_bearing:0.351692 0.360122 0.864075 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.428]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.428]  If point is visible? -0.020533, -0.319233, 1.681948 mu:-0.839226 unit_bearing:-0.028550 0.383315 0.923176 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.428]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.428]  If point is visible? 0.731063, -0.335396, 1.409035 mu:-0.839226 unit_bearing:0.605960 0.368866 0.704805 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.428]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.428]  If point is visible? -0.071740, -0.316671, 1.680820 mu:-0.839226 unit_bearing:-0.071507 0.381066 0.921778 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.428]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.428]  If point is visible? -0.791030, -0.363745, 1.352354 mu:-0.839226 unit_bearing:-0.670399 0.386683 0.633278 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.428]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.428]  If point is visible? -0.281439, -0.396031, 1.623336 mu:-0.839226 unit_bearing:-0.246528 0.441291 0.862836 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.428]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.428]  If point is visible? -0.224102, -0.416230, 1.628835 mu:-0.839226 unit_bearing:-0.198458 0.458678 0.866157 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.428]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.428]  If point is visible? 0.659769, -0.428122, 1.425491 mu:-0.839226 unit_bearing:0.546066 0.447787 0.708025 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.428]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.428]  If point is visible? 0.662719, -0.428163, 1.423264 mu:-0.839226 unit_bearing:0.548573 0.447593 0.706207 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.428]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.428]  If point is visible? 0.894212, 0.535013, 1.104206 mu:-0.839226 unit_bearing:0.745625 -0.387335 0.542232 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.428]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.428]  If point is visible? 0.115797, 0.591679, 1.561258 mu:-0.839226 unit_bearing:0.085969 -0.387791 0.917729 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.428]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.428]  If point is visible? 0.266808, 0.477066, 1.591580 mu:-0.839226 unit_bearing:0.212457 -0.289221 0.933388 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.428]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.428]  If point is visible? 0.279974, 0.495876, 1.579392 mu:-0.839226 unit_bearing:0.223643 -0.306136 0.925346 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.428]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.428]  If point is visible? 0.286714, 0.495582, 1.577671 mu:-0.839226 unit_bearing:0.229323 -0.306067 0.923977 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.428]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.428]  If point is visible? 0.293449, 0.495281, 1.575909 mu:-0.839226 unit_bearing:0.234999 -0.305996 0.922574 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.428]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.428]  If point is visible? 0.280062, 0.491045, 1.581646 mu:-0.839226 unit_bearing:0.223694 -0.301881 0.926730 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.428]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.428]  If point is visible? 0.286804, 0.490752, 1.579926 mu:-0.839226 unit_bearing:0.229375 -0.301813 0.925363 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.428]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.428]  If point is visible? 0.286893, 0.485916, 1.582157 mu:-0.839226 unit_bearing:0.229427 -0.297556 0.926727 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.428]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.428]  If point is visible? 0.158195, 0.470719, 1.616466 mu:-0.839226 unit_bearing:0.120982 -0.281389 0.951937 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.428]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.429]  If point is visible? 0.083255, 0.427754, 1.642682 mu:-0.839226 unit_bearing:0.057807 -0.242919 0.968323 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.429]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.429]  If point is visible? -0.184825, 0.391258, 1.645081 mu:-0.839226 unit_bearing:-0.167112 -0.212274 0.962815 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.429]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.429]  If point is visible? 0.641701, 0.363181, 1.466653 mu:-0.839226 unit_bearing:0.528973 -0.207135 0.822972 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.429]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.429]  If point is visible? -0.033393, 0.333274, 1.677703 mu:-0.839226 unit_bearing:-0.040401 -0.160638 0.986186 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.429]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.429]  If point is visible? -0.019601, 0.333316, 1.677950 mu:-0.839226 unit_bearing:-0.028831 -0.160647 0.986591 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.429]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.429]  If point is visible? -0.581799, 0.251545, 1.545886 mu:-0.839226 unit_bearing:-0.498591 -0.106042 0.860327 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.429]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.429]  If point is visible? -0.689960, 0.217244, 1.484530 mu:-0.839226 unit_bearing:-0.588434 -0.083746 0.804197 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.429]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.429]  If point is visible? -0.581753, 0.256514, 1.544664 mu:-0.839226 unit_bearing:-0.498543 -0.110306 0.859818 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.429]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.429]  If point is visible? -0.102297, 0.159234, 1.710906 mu:-0.839226 unit_bearing:-0.098384 -0.012272 0.995073 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.429]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.429]  If point is visible? -0.095393, 0.159302, 1.711448 mu:-0.839226 unit_bearing:-0.092598 -0.012273 0.995628 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.429]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.429]  If point is visible? -0.067766, 0.133678, 1.716423 mu:-0.839226 unit_bearing:-0.069442 0.009580 0.997540 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.429]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.429]  If point is visible? -0.171241, 0.033832, 1.713468 mu:-0.839226 unit_bearing:-0.156056 0.092446 0.983413 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.429]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.429]  If point is visible? -0.026374, 0.035051, 1.724904 mu:-0.839226 unit_bearing:-0.034659 0.092600 0.995100 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.429]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.429]  If point is visible? -0.171238, 0.028619, 1.713607 mu:-0.839226 unit_bearing:-0.156046 0.096803 0.982995 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.429]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.429]  If point is visible? -0.178093, -0.008023, 1.712940 mu:-0.839226 unit_bearing:-0.161726 0.127256 0.978596 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.429]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.429]  If point is visible? -0.033274, 0.040256, 1.724595 mu:-0.839226 unit_bearing:-0.040453 0.088233 0.995278 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.429]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.429]  If point is visible? -0.171218, -0.002697, 1.713954 mu:-0.839226 unit_bearing:-0.155980 0.122924 0.980082 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.429]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.429]  If point is visible? -0.171221, 0.002526, 1.713954 mu:-0.839226 unit_bearing:-0.155992 0.118572 0.980616 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.429]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.429]  If point is visible? -0.033345, -0.017257, 1.725149 mu:-0.839226 unit_bearing:-0.040422 0.136196 0.989857 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.429]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.429]  If point is visible? -0.700397, -0.100017, 1.496441 mu:-0.839226 unit_bearing:-0.596813 0.181742 0.781526 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.429]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.429]  If point is visible? -0.143643, -0.086134, 1.714376 mu:-0.839226 unit_bearing:-0.132705 0.192468 0.972289 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.429]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.429]  If point is visible? 0.909589, -0.147151, 1.283561 mu:-0.839226 unit_bearing:0.757193 0.199231 0.622066 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.429]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.429]  If point is visible? 0.823820, -0.160256, 1.375038 mu:-0.839226 unit_bearing:0.683968 0.219503 0.695706 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.429]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.429]  If point is visible? 0.829335, -0.160644, 1.369493 mu:-0.839226 unit_bearing:0.688674 0.219259 0.691125 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.429]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.429]  If point is visible? 0.845712, -0.161819, 1.352581 mu:-0.839226 unit_bearing:0.702654 0.218508 0.677150 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.429]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.429]  If point is visible? 0.851112, -0.162214, 1.346852 mu:-0.839226 unit_bearing:0.707266 0.218251 0.672414 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.429]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.429]  If point is visible? 0.850855, -0.167155, 1.346121 mu:-0.839226 unit_bearing:0.707069 0.222292 0.671297 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.429]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.429]  If point is visible? -0.927051, -0.204172, 1.260619 mu:-0.839226 unit_bearing:-0.783528 0.244381 0.571281 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.429]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.429]  If point is visible? 0.963232, -0.147222, 1.212837 mu:-0.839226 unit_bearing:0.803193 0.192057 0.563911 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.429]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.430]  If point is visible? 0.967858, -0.147678, 1.206091 mu:-0.839226 unit_bearing:0.807170 0.191746 0.558311 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.430]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.430]  If point is visible? -0.842152, -0.218565, 1.353304 mu:-0.839226 unit_bearing:-0.713559 0.265849 0.648196 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.430]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.430]  If point is visible? -0.790991, -0.230788, 1.399341 mu:-0.839226 unit_bearing:-0.671251 0.280739 0.686008 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.430]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.430]  If point is visible? -0.926733, -0.208975, 1.259656 mu:-0.839226 unit_bearing:-0.783240 0.248283 0.569992 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.430]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.430]  If point is visible? -0.921750, -0.208651, 1.266035 mu:-0.839226 unit_bearing:-0.779148 0.248666 0.575408 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.430]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.430]  If point is visible? -0.714285, -0.237332, 1.461609 mu:-0.839226 unit_bearing:-0.607745 0.292559 0.738279 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.430]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.430]  If point is visible? 0.740946, -0.220483, 1.436730 mu:-0.839226 unit_bearing:0.613669 0.275980 0.739760 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.430]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.430]  If point is visible? -0.360862, -0.225929, 1.648552 mu:-0.839226 unit_bearing:-0.313816 0.302180 0.900115 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.430]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.430]  If point is visible? 0.649488, -0.251780, 1.497442 mu:-0.839226 unit_bearing:0.536132 0.308258 0.785837 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.430]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.430]  If point is visible? 0.698341, -0.243706, 1.464531 mu:-0.839226 unit_bearing:0.577570 0.298167 0.759940 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.430]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.430]  If point is visible? -0.033943, -0.253683, 1.697934 mu:-0.839226 unit_bearing:-0.040138 0.330349 0.943005 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.430]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.430]  If point is visible? -0.027092, -0.253679, 1.698085 mu:-0.839226 unit_bearing:-0.034391 0.330361 0.943228 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.430]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.430]  If point is visible? 0.137021, -0.259674, 1.688273 mu:-0.839226 unit_bearing:0.103465 0.334351 0.936752 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.430]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.430]  If point is visible? 0.137081, -0.254427, 1.689433 mu:-0.839226 unit_bearing:0.103490 0.330100 0.938256 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.430]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.430]  If point is visible? -0.638955, -0.285085, 1.501835 mu:-0.839226 unit_bearing:-0.545015 0.336449 0.767958 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.430]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.430]  If point is visible? -0.225231, -0.270650, 1.673371 mu:-0.839226 unit_bearing:-0.200277 0.341970 0.918121 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.430]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.430]  If point is visible? -0.810135, -0.290930, 1.362839 mu:-0.839226 unit_bearing:-0.686702 0.327103 0.649187 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.430]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.430]  If point is visible? -0.033981, -0.264186, 1.695594 mu:-0.839226 unit_bearing:-0.040119 0.338858 0.939982 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.430]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.430]  If point is visible? -0.027132, -0.264181, 1.695746 mu:-0.839226 unit_bearing:-0.034374 0.338870 0.940205 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.430]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.430]  If point is visible? -0.594249, -0.309150, 1.522481 mu:-0.839226 unit_bearing:-0.507749 0.358607 0.783321 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.430]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.430]  If point is visible? -0.673698, -0.331433, 1.462907 mu:-0.839226 unit_bearing:-0.573545 0.371075 0.730308 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.430]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.430]  If point is visible? 0.734295, -0.330519, 1.408166 mu:-0.839226 unit_bearing:0.608676 0.364715 0.704625 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.430]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.430]  If point is visible? 0.733939, -0.335485, 1.406573 mu:-0.839226 unit_bearing:0.608408 0.368689 0.702786 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.430]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.430]  If point is visible? -0.150105, -0.343122, 1.665873 mu:-0.839226 unit_bearing:-0.137009 0.401570 0.905522 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.430]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.430]  If point is visible? -0.284789, -0.396062, 1.622469 mu:-0.839226 unit_bearing:-0.249327 0.441228 0.862064 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.431]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.431]  If point is visible? -0.244332, -0.411207, 1.626494 mu:-0.839226 unit_bearing:-0.215409 0.454255 0.864437 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.431]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.431]  If point is visible? -0.061791, -0.426009, 1.645405 mu:-0.839226 unit_bearing:-0.062476 0.468519 0.881242 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.431]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.431]  If point is visible? -0.212198, 0.405411, 1.635194 mu:-0.839226 unit_bearing:-0.189967 -0.225074 0.955643 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.431]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.431]  If point is visible? 0.115663, 0.601090, 1.555795 mu:-0.839226 unit_bearing:0.085917 -0.396189 0.914140 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.431]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.431]  If point is visible? 0.089904, 0.457236, 1.630297 mu:-0.839226 unit_bearing:0.063509 -0.268743 0.961116 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.431]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.431]  If point is visible? 0.117312, 0.456835, 1.627747 mu:-0.839226 unit_bearing:0.086543 -0.268670 0.959337 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.431]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.431]  If point is visible? 0.280062, 0.491045, 1.581646 mu:-0.839226 unit_bearing:0.223694 -0.301881 0.926730 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.431]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.431]  If point is visible? 0.130909, 0.466396, 1.622092 mu:-0.839226 unit_bearing:0.098016 -0.277213 0.955796 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.431]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.431]  If point is visible? 0.306188, 0.528236, 1.555800 mu:-0.839226 unit_bearing:0.245913 -0.335503 0.909376 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.431]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.431]  If point is visible? 0.635333, 0.368668, 1.468891 mu:-0.839226 unit_bearing:0.523589 -0.211476 0.825307 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.431]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.431]  If point is visible? 0.741042, 0.430540, 1.357419 mu:-0.839226 unit_bearing:0.613741 -0.274415 0.740282 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.431]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.431]  If point is visible? 0.294221, 0.451592, 1.595358 mu:-0.839226 unit_bearing:0.235450 -0.267616 0.934315 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.431]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.431]  If point is visible? -0.280902, 0.303350, 1.652826 mu:-0.839226 unit_bearing:-0.247688 -0.138257 0.958924 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.431]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.431]  If point is visible? -0.033384, 0.328232, 1.679160 mu:-0.839226 unit_bearing:-0.040405 -0.156290 0.986885 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.431]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.431]  If point is visible? -0.689960, 0.217244, 1.484530 mu:-0.839226 unit_bearing:-0.588434 -0.083746 0.804197 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.431]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.431]  If point is visible? 0.146061, 0.215111, 1.696263 mu:-0.839226 unit_bearing:0.110125 -0.060313 0.992086 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.431]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.431]  If point is visible? -0.690055, 0.207370, 1.486665 mu:-0.839226 unit_bearing:-0.588526 -0.075302 0.804964 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.431]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.431]  If point is visible? -0.171244, 0.039043, 1.713307 mu:-0.839226 unit_bearing:-0.156065 0.088089 0.983811 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.431]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.431]  If point is visible? -0.157470, 0.039244, 1.715161 mu:-0.839226 unit_bearing:-0.144534 0.088111 0.985569 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.431]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.431]  If point is visible? -0.060894, 0.040155, 1.723621 mu:-0.839226 unit_bearing:-0.063615 0.088218 0.994068 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.431]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.431]  If point is visible? -0.047084, 0.040214, 1.724188 mu:-0.839226 unit_bearing:-0.052036 0.088226 0.994740 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.431]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.431]  If point is visible? -0.171218, -0.002697, 1.713954 mu:-0.839226 unit_bearing:-0.155980 0.122924 0.980082 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.431]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.431]  If point is visible? -0.060950, -0.022586, 1.724082 mu:-0.839226 unit_bearing:-0.063561 0.140526 0.988035 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.431]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.431]  If point is visible? -0.047152, -0.022532, 1.724652 mu:-0.839226 unit_bearing:-0.051991 0.140540 0.988709 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.431]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.431]  If point is visible? -0.171209, -0.013149, 1.713885 mu:-0.839226 unit_bearing:-0.155955 0.131623 0.978955 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.431]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.431]  If point is visible? -0.157446, -0.012961, 1.715744 mu:-0.839226 unit_bearing:-0.144432 0.131656 0.980717 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.431]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.431]  If point is visible? -0.047139, -0.012058, 1.724804 mu:-0.839226 unit_bearing:-0.052000 0.131831 0.989907 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.431]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.431]  If point is visible? -0.033338, -0.012020, 1.725213 mu:-0.839226 unit_bearing:-0.040425 0.131841 0.990446 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.431]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.431]  If point is visible? 0.822562, -0.185098, 1.371167 mu:-0.839226 unit_bearing:0.683009 0.239799 0.689924 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.431]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.432]  If point is visible? -0.790991, -0.230788, 1.399341 mu:-0.839226 unit_bearing:-0.671251 0.280739 0.686008 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.432]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.432]  If point is visible? -0.767938, -0.229691, 1.420019 mu:-0.839226 unit_bearing:-0.652198 0.281941 0.703667 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.432]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.432]  If point is visible? -0.645146, -0.285281, 1.497694 mu:-0.839226 unit_bearing:-0.550152 0.336189 0.764402 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.432]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.432]  If point is visible? -0.825328, -0.222599, 1.369085 mu:-0.839226 unit_bearing:-0.699655 0.270824 0.661163 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.432]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.432]  If point is visible? -0.696171, -0.236576, 1.475375 mu:-0.839226 unit_bearing:-0.592739 0.293337 0.750076 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.432]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.432]  If point is visible? -0.609432, -0.233202, 1.534081 mu:-0.839226 unit_bearing:-0.520781 0.296531 0.800535 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.432]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.432]  If point is visible? 0.116613, -0.254244, 1.691806 mu:-0.839226 unit_bearing:0.086282 0.330190 0.939963 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.432]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.432]  If point is visible? 0.130261, -0.254363, 1.690265 mu:-0.839226 unit_bearing:0.097755 0.330131 0.938859 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.432]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.432]  If point is visible? 0.733579, -0.340447, 1.404955 mu:-0.839226 unit_bearing:0.608138 0.372656 0.700925 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.432]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.432]  If point is visible? 0.006797, -0.316642, 1.682710 mu:-0.839226 unit_bearing:-0.005632 0.381235 0.924461 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.432]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.432]  If point is visible? -0.278017, -0.401159, 1.622322 mu:-0.839226 unit_bearing:-0.243633 0.445459 0.861516 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.432]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.432]  If point is visible? -0.703990, -0.327230, 1.441856 mu:-0.839226 unit_bearing:-0.598676 0.365421 0.712779 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.432]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.432]  If point is visible? -0.692034, -0.326910, 1.451052 mu:-0.839226 unit_bearing:-0.588773 0.366095 0.720639 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.432]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.432]  If point is visible? -0.034356, -0.358429, 1.670045 mu:-0.839226 unit_bearing:-0.039915 0.414747 0.909061 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.432]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.432]  If point is visible? -0.251050, -0.411255, 1.624983 mu:-0.839226 unit_bearing:-0.221024 0.454141 0.863078 T_cur_ref: x=-0.004965 y=0.000000 z=0.534038
[19:36:15.432]  Z inverse min: -0.800251, Z inverse max: 0.000000
[19:36:15.432] init seeds
[19:36:15.435] DepthFilter: Initialized 353 new seeds
[19:37:42.370] DepthFilter stop thread invoked.
[19:37:42.370] DepthFilter interrupt and join thread 
